{"id":"https://openalex.org/W2580331303","doi":"https://doi.org/10.1109/tase.2016.2641743","title":"Energy and Peak Power Optimization of Time-Bounded Robot Trajectories","display_name":"Energy and Peak Power Optimization of Time-Bounded Robot Trajectories","publication_year":2017,"publication_date":"2017-01-24","ids":{"openalex":"https://openalex.org/W2580331303","doi":"https://doi.org/10.1109/tase.2016.2641743","mag":"2580331303"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2016.2641743","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2016.2641743","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5009533548","display_name":"Sarmad Riazi","orcid":"https://orcid.org/0000-0002-8450-311X"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Sarmad Riazi","raw_affiliation_strings":["Automation Research Group, Chalmers University of Technology, G\u00f6teborg, Sweden","Automation Research Group, Department of Electrical Engineering, Chalmers University of Technology, SE-412 96 G\u00f6oteborg, Sweden"],"affiliations":[{"raw_affiliation_string":"Automation Research Group, Chalmers University of Technology, G\u00f6teborg, Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Automation Research Group, Department of Electrical Engineering, Chalmers University of Technology, SE-412 96 G\u00f6oteborg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036504431","display_name":"Oskar Wigstr\u00f6m","orcid":"https://orcid.org/0000-0002-5881-2226"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Oskar Wigstrom","raw_affiliation_strings":["Automation Research Group, Chalmers University of Technology, G\u00f6teborg, Sweden","Automation Research Group, Department of Electrical Engineering, Chalmers University of Technology, SE-412 96 G\u00f6oteborg, Sweden"],"affiliations":[{"raw_affiliation_string":"Automation Research Group, Chalmers University of Technology, G\u00f6teborg, Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Automation Research Group, Department of Electrical Engineering, Chalmers University of Technology, SE-412 96 G\u00f6oteborg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047696349","display_name":"Kristofer Bengtsson","orcid":"https://orcid.org/0000-0002-5290-682X"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Kristofer Bengtsson","raw_affiliation_strings":["Automation Research Group, Chalmers University of Technology, G\u00f6teborg, Sweden","Automation Research Group, Department of Electrical Engineering, Chalmers University of Technology, SE-412 96 G\u00f6oteborg, Sweden"],"affiliations":[{"raw_affiliation_string":"Automation Research Group, Chalmers University of Technology, G\u00f6teborg, Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Automation Research Group, Department of Electrical Engineering, Chalmers University of Technology, SE-412 96 G\u00f6oteborg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076331540","display_name":"Bengt Lennartson","orcid":"https://orcid.org/0000-0002-3406-3881"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Bengt Lennartson","raw_affiliation_strings":["Automation Research Group, Chalmers University of Technology, G\u00f6teborg, Sweden","Automation Research Group, Department of Electrical Engineering, Chalmers University of Technology, SE-412 96 G\u00f6oteborg, Sweden"],"affiliations":[{"raw_affiliation_string":"Automation Research Group, Chalmers University of Technology, G\u00f6teborg, Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Automation Research Group, Department of Electrical Engineering, Chalmers University of Technology, SE-412 96 G\u00f6oteborg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5009533548"],"corresponding_institution_ids":["https://openalex.org/I66862912"],"apc_list":null,"apc_paid":null,"fwci":6.0217,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.97257749,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"14","issue":"2","first_page":"646","last_page":"657"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T10933","display_name":"Real-Time Systems Scheduling","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T10904","display_name":"Embedded Systems Design Techniques","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9937999844551086,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7754990458488464},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.6314786672592163},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.5633054375648499},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5554653406143188},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.49011310935020447},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4820314645767212},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.4572574198246002},{"id":"https://openalex.org/keywords/power-consumption","display_name":"Power consumption","score":0.43409180641174316},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.43127936124801636},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4057644307613373},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38794076442718506},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3415258824825287},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3399898409843445},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17049908638000488},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13865643739700317},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.12876629829406738}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7754990458488464},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.6314786672592163},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.5633054375648499},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5554653406143188},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.49011310935020447},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4820314645767212},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.4572574198246002},{"id":"https://openalex.org/C2984118289","wikidata":"https://www.wikidata.org/wiki/Q29954","display_name":"Power consumption","level":3,"score":0.43409180641174316},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.43127936124801636},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4057644307613373},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38794076442718506},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3415258824825287},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3399898409843445},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17049908638000488},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13865643739700317},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.12876629829406738},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tase.2016.2641743","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2016.2641743","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:research.chalmers.se:247684","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/247684","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:research.chalmers.se:502684","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/502684","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1660845844","https://openalex.org/W1812879845","https://openalex.org/W1971317756","https://openalex.org/W1996891009","https://openalex.org/W1997310296","https://openalex.org/W2026069473","https://openalex.org/W2041504248","https://openalex.org/W2057101188","https://openalex.org/W2083878885","https://openalex.org/W2086544617","https://openalex.org/W2099454002","https://openalex.org/W2102667749","https://openalex.org/W2111414790","https://openalex.org/W2113265921","https://openalex.org/W2123871098","https://openalex.org/W2141522820","https://openalex.org/W2155035192","https://openalex.org/W2200858928","https://openalex.org/W2556326316","https://openalex.org/W6677390752"],"related_works":["https://openalex.org/W4296019323","https://openalex.org/W4253859844","https://openalex.org/W2944831112","https://openalex.org/W1987020719","https://openalex.org/W1530958058","https://openalex.org/W2405058345","https://openalex.org/W2036735799","https://openalex.org/W3018973003","https://openalex.org/W613488705","https://openalex.org/W2517028419"],"abstract_inverted_index":{"This":[0],"paper,":[1],"as":[2,58,118,121],"an":[3,11],"outcome":[4],"of":[5,19,45,55,75,86,99,106],"the":[6,30,82,97,113],"EU":[7],"project":[8],"AREUS,":[9],"heralds":[10],"optimization":[12,114],"procedure":[13],"that":[14,32,102],"reduces":[15],"up":[16,23],"to":[17,24],"30%":[18],"energy":[20],"consumption":[21],"and":[22,48,63,69,88,91,115],"60%":[25],"in":[26,66,81,96,117],"peak":[27],"power":[28],"for":[29,52],"trajectories":[31],"have":[33,41,110],"been":[34],"tested":[35,49],"on":[36],"real":[37],"industrial":[38],"robots.":[39,108],"We":[40,109],"evaluated":[42],"a":[43,53],"number":[44],"cost":[46],"functions":[47],"our":[50,76],"algorithm":[51],"variety":[54,98],"scenarios":[56,101],"such":[57],"varying":[59],"cycle":[60,92],"times,":[61],"payloads,":[62],"single/multirobot":[64],"cases":[65],"both":[67],"ac-":[68],"dc-operated":[70],"robot":[71],"cells.":[72],"The":[73],"significance":[74],"work":[77],"is":[78],"not":[79],"only":[80],"impressive":[83],"savings,":[84],"simplicity":[85],"implementation,":[87],"preserving":[89],"path":[90],"time,":[93],"but":[94],"also":[95],"test":[100],"include":[103],"different":[104],"kinds":[105],"KUKA":[107],"carried":[111],"out":[112],"experiments":[116],"realistic":[119],"conditions":[120],"possible.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}