{"id":"https://openalex.org/W4416583039","doi":"https://doi.org/10.1109/sbr/wre66973.2025.11249558","title":"Determination of Minimum-Time Velocity Profile for Trajectory Planning of Small Size League Robots","display_name":"Determination of Minimum-Time Velocity Profile for Trajectory Planning of Small Size League Robots","publication_year":2025,"publication_date":"2025-10-13","ids":{"openalex":"https://openalex.org/W4416583039","doi":"https://doi.org/10.1109/sbr/wre66973.2025.11249558"},"language":null,"primary_location":{"id":"doi:10.1109/sbr/wre66973.2025.11249558","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr/wre66973.2025.11249558","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 Brazilian Symposium on Robotics (SBR) and 2025 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5120423799","display_name":"Lucas G. Neves","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123805","display_name":"Instituto de Aeron\u00e1utica e Espa\u00e7o","ror":"https://ror.org/025n1fp68","country_code":"BR","type":"other","lineage":["https://openalex.org/I4210123805"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Lucas G. Neves","raw_affiliation_strings":["Aeronautics Institute of Technology,Autonomous Computational Systems Lab, Computer Science Division,S&#x00E3;o Jos&#x00E9; dos Campos,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aeronautics Institute of Technology,Autonomous Computational Systems Lab, Computer Science Division,S&#x00E3;o Jos&#x00E9; dos Campos,Brazil","institution_ids":["https://openalex.org/I4210123805"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060878335","display_name":"Guilherme Bertolino","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123805","display_name":"Instituto de Aeron\u00e1utica e Espa\u00e7o","ror":"https://ror.org/025n1fp68","country_code":"BR","type":"other","lineage":["https://openalex.org/I4210123805"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Guilherme M\u00fcller Bertolino","raw_affiliation_strings":["Aeronautics Institute of Technology,Autonomous Computational Systems Lab, Computer Science Division,S&#x00E3;o Jos&#x00E9; dos Campos,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aeronautics Institute of Technology,Autonomous Computational Systems Lab, Computer Science Division,S&#x00E3;o Jos&#x00E9; dos Campos,Brazil","institution_ids":["https://openalex.org/I4210123805"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114179151","display_name":"Marcos R. O. A. Maximo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123805","display_name":"Instituto de Aeron\u00e1utica e Espa\u00e7o","ror":"https://ror.org/025n1fp68","country_code":"BR","type":"other","lineage":["https://openalex.org/I4210123805"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Marcos R. O. A. Maximo","raw_affiliation_strings":["Aeronautics Institute of Technology,Autonomous Computational Systems Lab, Computer Science Division,S&#x00E3;o Jos&#x00E9; dos Campos,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aeronautics Institute of Technology,Autonomous Computational Systems Lab, Computer Science Division,S&#x00E3;o Jos&#x00E9; dos Campos,Brazil","institution_ids":["https://openalex.org/I4210123805"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057498509","display_name":"Gabriela W. Gabriel","orcid":"https://orcid.org/0000-0001-5631-9270"},"institutions":[{"id":"https://openalex.org/I4210123805","display_name":"Instituto de Aeron\u00e1utica e Espa\u00e7o","ror":"https://ror.org/025n1fp68","country_code":"BR","type":"other","lineage":["https://openalex.org/I4210123805"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Gabriela Werner Gabriel","raw_affiliation_strings":["Aeronautics Institute of Technology,Electronic Engineering Division,Sao Jose dos Campos,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aeronautics Institute of Technology,Electronic Engineering Division,Sao Jose dos Campos,Brazil","institution_ids":["https://openalex.org/I4210123805"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31781339,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"188","last_page":"193"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.965399980545044,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.965399980545044,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.01860000006854534,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.002099999925121665,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7440999746322632},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.65829998254776},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6273999810218811},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5795000195503235},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5705000162124634},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5557000041007996},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5515000224113464},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48330000042915344}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7440999746322632},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.65829998254776},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6273999810218811},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5795000195503235},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5705000162124634},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5557000041007996},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5515000224113464},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48330000042915344},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4659999907016754},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45890000462532043},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4124999940395355},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.40860000252723694},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.3862000107765198},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.3804999887943268},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.36980000138282776},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3517000079154968},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.304500013589859},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2881999909877777},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.28619998693466187},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2759000062942505},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2671999931335449},{"id":"https://openalex.org/C93103318","wikidata":"https://www.wikidata.org/wiki/Q980965","display_name":"Real Time Kinematic","level":4,"score":0.2660999894142151},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.2533999979496002},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2524999976158142},{"id":"https://openalex.org/C207456731","wikidata":"https://www.wikidata.org/wiki/Q660818","display_name":"League","level":2,"score":0.25099998712539673}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sbr/wre66973.2025.11249558","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr/wre66973.2025.11249558","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 Brazilian Symposium on Robotics (SBR) and 2025 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1555405574","https://openalex.org/W1970412155","https://openalex.org/W2068262213","https://openalex.org/W2110144538","https://openalex.org/W3009103564","https://openalex.org/W3097391724"],"related_works":[],"abstract_inverted_index":{"This":[0,18,122],"article":[1],"proposes":[2],"using":[3],"the":[4,11,21,45,59,71,84,87,90,112,129,137],"Minimum-Time":[5],"Velocity":[6],"Profile":[7],"(MTVP)":[8],"algorithm":[9,19],"in":[10,101,136],"Small":[12],"Size":[13],"League":[14],"(SSL)":[15],"of":[16,70,86],"RoboCup.":[17],"solves":[20],"trajectory":[22,134],"planning":[23,135],"problem,":[24],"providing":[25],"insight":[26],"on":[27],"how":[28],"to":[29,77,128],"navigate":[30],"an":[31,119],"already":[32],"planned":[33],"path":[34,46,62],"while":[35,111],"accounting":[36],"for":[37,133],"dynamic":[38],"and":[39,52],"kinematic":[40],"constraints.":[41],"In":[42],"this":[43,65,116],"work,":[44],"is":[47,56,66],"composed":[48],"by":[49,58],"line":[50],"segments":[51],"circular":[53],"arcs,":[54],"which":[55,74],"generated":[57],"team's":[60],"visibility-graph-based":[61],"planner.":[63],"However,":[64],"not":[67],"a":[68,98,105,126],"limitation":[69],"developed":[72],"algorithm,":[73],"remains":[75],"applicable":[76],"more":[78],"general":[79],"paths.":[80],"Experimental":[81],"results":[82],"demonstrate":[83],"effectiveness":[85],"MTVP":[88],"approach:":[89],"variant":[91,113],"that":[92,114],"considers":[93],"angular":[94],"acceleration":[95],"constraints":[96],"achieved":[97,118],"1.1%":[99],"improvement":[100],"navigation":[102],"time":[103],"over":[104],"baseline":[106],"P":[107],"controller":[108],"with":[109,125],"saturations,":[110],"ignores":[115],"constraint":[117],"8.57%":[120],"improvement.":[121],"work":[123],"contributes":[124],"solution":[127],"velocity":[130],"profile":[131],"determination":[132],"SSL":[138],"environment.":[139]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-25T00:00:00"}
