{"id":"https://openalex.org/W2905747166","doi":"https://doi.org/10.1109/tase.2018.2882764","title":"Model Predictive Control for Real-Time Point-to-Point Trajectory Generation","display_name":"Model Predictive Control for Real-Time Point-to-Point Trajectory Generation","publication_year":2018,"publication_date":"2018-12-24","ids":{"openalex":"https://openalex.org/W2905747166","doi":"https://doi.org/10.1109/tase.2018.2882764","mag":"2905747166"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2018.2882764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2018.2882764","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/A5018190451","display_name":"M. Mahdi Ghazaei Ardakani","orcid":"https://orcid.org/0000-0002-4713-1003"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"M. Mahdi Ghazaei Ardakani","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-4713-1003","affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056496417","display_name":"Bj\u00f6rn Olofsson","orcid":"https://orcid.org/0000-0003-1320-032X"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Bjorn Olofsson","raw_affiliation_strings":["Department of Automatic Control, LTH, Lund University, Lund, Sweden"],"raw_orcid":"https://orcid.org/0000-0003-1320-032X","affiliations":[{"raw_affiliation_string":"Department of Automatic Control, LTH, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013736282","display_name":"Anders Robertsson","orcid":"https://orcid.org/0000-0003-1063-4771"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Anders Robertsson","raw_affiliation_strings":["Department of Automatic Control, LTH, Lund University, Lund, Sweden"],"raw_orcid":"https://orcid.org/0000-0003-1063-4771","affiliations":[{"raw_affiliation_string":"Department of Automatic Control, LTH, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084540714","display_name":"Rolf Johansson","orcid":"https://orcid.org/0000-0002-0786-8561"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Rolf Johansson","raw_affiliation_strings":["Department of Automatic Control, LTH, Lund University, Lund, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-0786-8561","affiliations":[{"raw_affiliation_string":"Department of Automatic Control, LTH, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5018190451"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":2.4343,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.89898099,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"16","issue":"2","first_page":"972","last_page":"983"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"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":0.996999979019165,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9962000250816345,"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/trajectory","display_name":"Trajectory","score":0.6787103414535522},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6643914580345154},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6426705718040466},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6141347885131836},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5084325671195984},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.46567365527153015},{"id":"https://openalex.org/keywords/state-variable","display_name":"State variable","score":0.43546706438064575},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40906402468681335},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3278164267539978},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3004961609840393},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2299824357032776},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22641626000404358}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6787103414535522},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6643914580345154},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6426705718040466},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6141347885131836},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5084325671195984},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.46567365527153015},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.43546706438064575},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40906402468681335},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3278164267539978},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3004961609840393},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2299824357032776},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22641626000404358},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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":2,"locations":[{"id":"doi:10.1109/tase.2018.2882764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2018.2882764","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:lup.lub.lu.se:463e2205-4778-4198-9147-e1d33fd73b5e","is_oa":false,"landing_page_url":"https://lup.lub.lu.se/record/463e2205-4778-4198-9147-e1d33fd73b5e","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISSN: 1545-5955","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.9100000262260437}],"awards":[{"id":"https://openalex.org/G759417114","display_name":null,"funder_award_id":"PRACE 285380","funder_id":"https://openalex.org/F4320334960","funder_display_name":"Seventh Framework Programme"},{"id":"https://openalex.org/G7915183207","display_name":null,"funder_award_id":"SMErobotics 287787","funder_id":"https://openalex.org/F4320334960","funder_display_name":"Seventh Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320320940","display_name":"Stiftelsen f\u00f6r\u00a0Strategisk Forskning","ror":"https://ror.org/044wr7g58"},{"id":"https://openalex.org/F4320321806","display_name":"Lunds Universitet","ror":"https://ror.org/012a77v79"},{"id":"https://openalex.org/F4320334960","display_name":"Seventh Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W29648111","https://openalex.org/W135568524","https://openalex.org/W183484145","https://openalex.org/W366435287","https://openalex.org/W1424654272","https://openalex.org/W1476640653","https://openalex.org/W1540972459","https://openalex.org/W1661708671","https://openalex.org/W1812879845","https://openalex.org/W1833454552","https://openalex.org/W1838415029","https://openalex.org/W1966080303","https://openalex.org/W1971194772","https://openalex.org/W1978956894","https://openalex.org/W1980936883","https://openalex.org/W2003132288","https://openalex.org/W2004406110","https://openalex.org/W2032801422","https://openalex.org/W2034767184","https://openalex.org/W2036101221","https://openalex.org/W2040227765","https://openalex.org/W2048047354","https://openalex.org/W2073408938","https://openalex.org/W2095905067","https://openalex.org/W2099454002","https://openalex.org/W2117402460","https://openalex.org/W2117571644","https://openalex.org/W2119224729","https://openalex.org/W2122761880","https://openalex.org/W2140986640","https://openalex.org/W2150922432","https://openalex.org/W2163061173","https://openalex.org/W2213594914","https://openalex.org/W2375099263","https://openalex.org/W2560304127","https://openalex.org/W4250589301","https://openalex.org/W4251884961","https://openalex.org/W6638809805","https://openalex.org/W6638933369"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2060165215","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W4248731570","https://openalex.org/W2320869598","https://openalex.org/W4323768008","https://openalex.org/W2381210024","https://openalex.org/W2903025760","https://openalex.org/W2132020804"],"abstract_inverted_index":{"The":[0,218],"problem":[1,38,124],"of":[2,22,39,52,65,88,105,125,231,275],"planning":[3,178],"a":[4,15,19,44,98,130,137,143,158,168,172,256,273],"trajectory":[5,41],"for":[6,43,58,163,223,225,229],"robots":[7],"starting":[8],"in":[9,18,97,109,213,233],"an":[10,28,94,176],"initial":[11],"state":[12,17,64,135,149],"and":[13,56,91,140,150,203,205,246],"reaching":[14],"final":[16,46,152],"desired":[20,200,243],"interval":[21],"time":[23,153,207],"is":[24,193,216],"tackled.":[25],"We":[26,48,236],"propose":[27],"approach":[29,107,212],"based":[30],"on":[31,72,93,115,249],"model":[32],"predictive":[33],"control":[34],"to":[35,61,128,136,185,239,262,272,281],"solve":[36],"the":[37,63,66,73,86,89,103,106,116,123,147,151,182,191,196,199,211,234,242,250,292],"point-to-point":[40],"generation":[42],"given":[45],"time.":[47],"discuss":[49,237],"various":[50],"choices":[51],"models,":[53],"objective":[54],"functions,":[55],"constraints":[57,114],"generating":[59,126],"trajectories":[60],"transfer":[62,129],"robot,":[67],"while":[68],"respecting":[69],"physical":[70],"limitations":[71],"motion":[74,183],"as":[75,77,188,190,253],"well":[76],"fulfilling":[78],"computational":[79],"real-time":[80,113],"requirements.":[81],"Extensive":[82],"simulation":[83],"results":[84],"illustrate":[85],"use":[87],"approach,":[90],"experiments":[92],"industrial":[95],"robot":[96,131],"challenging":[99],"ball-catching":[100],"task":[101],"show":[102],"effectiveness":[104],"also":[108],"demanding":[110],"scenarios":[111],"with":[112,171],"computation.":[117],"This":[118],"paper":[119,215],"was":[120],"motivated":[121],"by":[122,289],"movements":[127,219],"from":[132,167],"its":[133],"current":[134],"new":[138],"position":[139,202],"velocity":[141,204],"at":[142,157],"certain":[144],"time,":[145],"when":[146],"target":[148],"may":[154],"require":[155],"correction":[156],"high":[159],"rate.":[160],"For":[161],"example,":[162,224],"picking":[164],"small":[165],"objects":[166],"conveyor":[169],"belt":[170],"variable":[173],"feed":[174],"rate,":[175],"off-line":[177],"would":[179],"fail,":[180],"since":[181],"has":[184],"be":[186,209,221],"adjusted":[187],"soon":[189],"speed":[192],"changed.":[194],"Under":[195],"assumption":[197],"that":[198,278],"pickup":[201],"arrival":[206],"can":[208,220],"predicted,":[210],"this":[214],"applicable.":[217],"optimized,":[222],"energy":[226],"efficiency":[227],"or":[228],"reduction":[230],"vibrations":[232],"robot.":[235],"how":[238],"mathematically":[240],"express":[241],"performance":[244],"criteria":[245],"other":[247],"requirements":[248],"motion,":[251],"such":[252],"not":[254],"violating":[255],"maximum":[257],"joint":[258],"speed.":[259],"Quick":[260],"reactions":[261],"sensor":[263],"inputs":[264],"are":[265],"computationally":[266],"demanding.":[267],"Thus,":[268],"we":[269,285],"limit":[270],"ourselves":[271],"class":[274],"motion-generation":[276],"problems":[277],"lends":[279],"itself":[280],"numerical":[282],"optimization.":[283],"Additionally,":[284],"save":[286],"computation":[287],"power":[288],"gradually":[290],"refining":[291],"motion.":[293]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
