{"id":"https://openalex.org/W3125257537","doi":"https://doi.org/10.1109/ssrr50563.2020.9292590","title":"Generation of Energy Optimal Speed Profiles for a Differential Drive Mobile Robot with Payload on Straight Trajectories","display_name":"Generation of Energy Optimal Speed Profiles for a Differential Drive Mobile Robot with Payload on Straight Trajectories","publication_year":2020,"publication_date":"2020-11-04","ids":{"openalex":"https://openalex.org/W3125257537","doi":"https://doi.org/10.1109/ssrr50563.2020.9292590","mag":"3125257537"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr50563.2020.9292590","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292590","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5048086125","display_name":"Mauricio F. Jaramillo-Morales","orcid":"https://orcid.org/0000-0001-5412-1826"},"institutions":[{"id":"https://openalex.org/I4210093237","display_name":"Universidad Autonoma de Manizales","ror":"https://ror.org/00jfare13","country_code":"CO","type":"education","lineage":["https://openalex.org/I4210093237"]}],"countries":["CO"],"is_corresponding":true,"raw_author_name":"Mauricio F. Jaramillo-Morales","raw_affiliation_strings":["Universidad Aut\u00f3noma - Manizales - Colombia,Manizales,Caldas,Colombia,21 #38-52"],"affiliations":[{"raw_affiliation_string":"Universidad Aut\u00f3noma - Manizales - Colombia,Manizales,Caldas,Colombia,21 #38-52","institution_ids":["https://openalex.org/I4210093237"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053156431","display_name":"Sedat Dogru","orcid":"https://orcid.org/0000-0002-6696-9362"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Sedat Dogru","raw_affiliation_strings":["Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Coimbra,Portugal,3030\u2013290"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Coimbra,Portugal,3030\u2013290","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040524564","display_name":"Lino Marques","orcid":"https://orcid.org/0000-0002-9396-986X"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Lino Marques","raw_affiliation_strings":["Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Coimbra,Portugal,3030\u2013290"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics, University of Coimbra,Department of Electrical and Computer Engineering,Coimbra,Portugal,3030\u2013290","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5048086125"],"corresponding_institution_ids":["https://openalex.org/I4210093237"],"apc_list":null,"apc_paid":null,"fwci":0.5862,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.70225852,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9998000264167786,"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":0.9909999966621399,"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/payload","display_name":"Payload (computing)","score":0.8496553301811218},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7512880563735962},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.6968257427215576},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6317607164382935},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5949399471282959},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.46651044487953186},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4592779278755188},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43135470151901245},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.42510128021240234},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.42267778515815735},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3353555202484131},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24770012497901917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15585416555404663},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13053211569786072},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11986303329467773},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.06824979186058044}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8496553301811218},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7512880563735962},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.6968257427215576},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6317607164382935},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5949399471282959},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.46651044487953186},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4592779278755188},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43135470151901245},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.42510128021240234},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.42267778515815735},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3353555202484131},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24770012497901917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15585416555404663},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13053211569786072},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11986303329467773},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.06824979186058044},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr50563.2020.9292590","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292590","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1536420540","https://openalex.org/W1540628105","https://openalex.org/W1630655145","https://openalex.org/W1971998222","https://openalex.org/W2027698629","https://openalex.org/W2098928970","https://openalex.org/W2108434160","https://openalex.org/W2122800301","https://openalex.org/W2163385431","https://openalex.org/W2313274380","https://openalex.org/W2565210018","https://openalex.org/W2782840524","https://openalex.org/W2796161320","https://openalex.org/W2905683736","https://openalex.org/W3000688100","https://openalex.org/W3015079571","https://openalex.org/W3016603632","https://openalex.org/W6683930862","https://openalex.org/W6757498590"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W4379531983","https://openalex.org/W2294241086","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Day":[0],"by":[1,15,45],"day":[2],"mobile":[3],"robots":[4,25,48],"are":[5,125,137],"being":[6],"used":[7],"more":[8,51],"often":[9],"in":[10,111,135],"the":[11,21,47,81,85,88,115,121],"industry":[12],"and":[13,26,87,132],"even":[14],"households.":[16],"Energy":[17,118],"is":[18,100],"one":[19],"of":[20,24,84,120],"running":[22],"costs":[23],"it":[27],"can":[28,42],"be":[29,43],"quite":[30],"significant":[31,133],"specifically":[32],"due":[33],"to":[34,49,108,128],"heavy":[35],"usage.":[36],"In":[37],"such":[38],"cases":[39],"energy":[40,58,136],"consumption":[41,119],"reduced":[44],"programming":[46],"utilize":[50],"efficient":[52],"motion":[53,60],"profiles.":[54,117],"This":[55],"paper":[56],"develops":[57],"minimizing":[59],"profiles":[61,124,131],"for":[62,114],"two":[63],"wheel":[64],"differential":[65],"drive":[66],"robots.":[67],"The":[68,90],"approach":[69,106],"utilizes":[70],"an":[71],"objective":[72],"function":[73,105],"that":[74,79],"uses":[75],"a":[76,103,109],"power":[77],"model":[78],"combines":[80],"dynamic":[82],"models":[83],"robot":[86],"motors.":[89],"problem,":[91],"which":[92],"also":[93],"takes":[94],"into":[95],"account":[96],"variable":[97],"payload":[98],"masses,":[99],"solved":[101],"using":[102],"Hamiltonian":[104],"leading":[107],"solution":[110],"closed":[112],"form":[113],"speed":[116,123,130],"generated":[122],"experimentally":[126],"compared":[127],"trapezoidal":[129],"savings":[134],"found.":[138]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
