{"id":"https://openalex.org/W2765178892","doi":"https://doi.org/10.1109/sisy.2017.8080545","title":"Minimum-time path tracking for robots with non-convex constraints","display_name":"Minimum-time path tracking for robots with non-convex constraints","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2765178892","doi":"https://doi.org/10.1109/sisy.2017.8080545","mag":"2765178892"},"language":"en","primary_location":{"id":"doi:10.1109/sisy.2017.8080545","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sisy.2017.8080545","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 15th International Symposium on Intelligent Systems and Informatics (SISY)","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/A5075965099","display_name":"\u00c1kos Nagy","orcid":"https://orcid.org/0000-0003-0735-3127"},"institutions":[{"id":"https://openalex.org/I29770179","display_name":"Budapest University of Technology and Economics","ror":"https://ror.org/02w42ss30","country_code":"HU","type":"education","lineage":["https://openalex.org/I29770179"]}],"countries":["HU"],"is_corresponding":true,"raw_author_name":"Akos Nagy","raw_affiliation_strings":["Department of Automation and Applied Informatics, Budapest University of Technology and Economics"],"affiliations":[{"raw_affiliation_string":"Department of Automation and Applied Informatics, Budapest University of Technology and Economics","institution_ids":["https://openalex.org/I29770179"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068344307","display_name":"Istv\u00e1n Vajk","orcid":"https://orcid.org/0000-0002-2818-9162"},"institutions":[{"id":"https://openalex.org/I29770179","display_name":"Budapest University of Technology and Economics","ror":"https://ror.org/02w42ss30","country_code":"HU","type":"education","lineage":["https://openalex.org/I29770179"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Istvan Vajk","raw_affiliation_strings":["Department of Automation and Applied Informatics, Budapest University of Technology and Economics, Budapest, Hungary"],"affiliations":[{"raw_affiliation_string":"Department of Automation and Applied Informatics, Budapest University of Technology and Economics, Budapest, Hungary","institution_ids":["https://openalex.org/I29770179"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5075965099"],"corresponding_institution_ids":["https://openalex.org/I29770179"],"apc_list":null,"apc_paid":null,"fwci":0.2012,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.53459887,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"000163","last_page":"000168"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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":0.972599983215332,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7086000442504883},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7017342448234558},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.6032744646072388},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5999560356140137},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5805178880691528},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5502033233642578},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5249353051185608},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5002684593200684},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.47537103295326233},{"id":"https://openalex.org/keywords/contrast","display_name":"Contrast (vision)","score":0.45337554812431335},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3829798996448517},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3671863079071045},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18712618947029114},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08468511700630188}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7086000442504883},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7017342448234558},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.6032744646072388},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5999560356140137},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5805178880691528},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5502033233642578},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5249353051185608},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5002684593200684},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.47537103295326233},{"id":"https://openalex.org/C2776502983","wikidata":"https://www.wikidata.org/wiki/Q690182","display_name":"Contrast (vision)","level":2,"score":0.45337554812431335},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3829798996448517},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3671863079071045},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18712618947029114},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08468511700630188},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sisy.2017.8080545","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sisy.2017.8080545","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 15th International Symposium on Intelligent Systems and Informatics (SISY)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W9955790","https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1560270123","https://openalex.org/W2005996430","https://openalex.org/W2043306880","https://openalex.org/W2060364217","https://openalex.org/W2099454002","https://openalex.org/W2115091574","https://openalex.org/W2136209220","https://openalex.org/W2240885390","https://openalex.org/W2526264695","https://openalex.org/W2611243847"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"The":[0,14,63,77],"paper":[1,64],"examines":[2],"the":[3,70,82,96],"time-optimal":[4,71],"path":[5],"tracking":[6],"problem":[7,44,72],"which":[8],"belongs":[9],"to":[10,17,40,68,95],"robot":[11],"motion":[12],"planning.":[13],"goal":[15],"is":[16,79],"generate":[18],"a":[19,41,46,66,90,103],"velocity":[20],"profile":[21,35],"for":[22],"robotic":[23,105],"manipulators":[24],"taking":[25],"into":[26,57],"account":[27,58],"kinematic":[28],"and":[29,84,87],"dynamic":[30],"constraints.":[31,76],"In":[32],"some":[33,52],"cases,":[34],"generation":[36],"can":[37],"be":[38,55],"translated":[39],"convex":[42],"optimisation":[43],"through":[45],"non-linear":[47],"change":[48],"of":[49],"variables.":[50],"However,":[51],"constraints":[53],"cannot":[54],"taken":[56],"due":[59],"they":[60],"non-convex":[61,75],"properties.":[62],"presents":[65],"method":[67,78],"solve":[69],"with":[73,102],"these":[74],"based":[80],"on":[81],"branch":[83],"bound":[85],"algorithm,":[86],"it":[88],"provides":[89],"global":[91],"solution":[92],"in":[93],"contrast":[94],"existing":[97],"local":[98],"approaches.":[99],"Experimental":[100],"results":[101],"3-DoF":[104],"arm":[106],"are":[107],"also":[108],"presented.":[109]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
