{"id":"https://openalex.org/W2652142756","doi":"https://doi.org/10.1109/tcst.2017.2710953","title":"Optimal Motion Planning and Energy-Based Control of a Single Mast Stacker Crane","display_name":"Optimal Motion Planning and Energy-Based Control of a Single Mast Stacker Crane","publication_year":2017,"publication_date":"2017-06-20","ids":{"openalex":"https://openalex.org/W2652142756","doi":"https://doi.org/10.1109/tcst.2017.2710953","mag":"2652142756"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2017.2710953","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2017.2710953","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5023092321","display_name":"Hubert Rams","orcid":"https://orcid.org/0000-0002-9368-9075"},"institutions":[{"id":"https://openalex.org/I121883995","display_name":"Johannes Kepler University of Linz","ror":"https://ror.org/052r2xn60","country_code":"AT","type":"education","lineage":["https://openalex.org/I121883995"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Hubert Rams","raw_affiliation_strings":["Institute of Automatic Control and Control Systems Technology, Johannes Kepler University, Linz, Austria"],"raw_orcid":"https://orcid.org/0000-0002-9368-9075","affiliations":[{"raw_affiliation_string":"Institute of Automatic Control and Control Systems Technology, Johannes Kepler University, Linz, Austria","institution_ids":["https://openalex.org/I121883995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063690895","display_name":"Markus Sch\u00f6berl","orcid":null},"institutions":[{"id":"https://openalex.org/I121883995","display_name":"Johannes Kepler University of Linz","ror":"https://ror.org/052r2xn60","country_code":"AT","type":"education","lineage":["https://openalex.org/I121883995"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Markus Schoberl","raw_affiliation_strings":["Institute of Automatic Control and Control Systems Technology, Johannes Kepler University, Linz, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control and Control Systems Technology, Johannes Kepler University, Linz, Austria","institution_ids":["https://openalex.org/I121883995"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012161132","display_name":"Kurt Schlacher","orcid":null},"institutions":[{"id":"https://openalex.org/I121883995","display_name":"Johannes Kepler University of Linz","ror":"https://ror.org/052r2xn60","country_code":"AT","type":"education","lineage":["https://openalex.org/I121883995"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Kurt Schlacher","raw_affiliation_strings":["Institute of Automatic Control and Control Systems Technology, Johannes Kepler University, Linz, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control and Control Systems Technology, Johannes Kepler University, Linz, Austria","institution_ids":["https://openalex.org/I121883995"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.245,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.88429551,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"26","issue":"4","first_page":"1449","last_page":"1457"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9995999932289124,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9995999932289124,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9951000213623047,"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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9911999702453613,"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/stacker","display_name":"Stacker","score":0.9482839107513428},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.8250750303268433},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6451203227043152},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.561147153377533},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5504103302955627},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.5257083773612976},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5205334424972534},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.512122631072998},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.500760555267334},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4862171709537506},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4613957107067108},{"id":"https://openalex.org/keywords/energy-minimization","display_name":"Energy minimization","score":0.42171648144721985},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3241436779499054},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3092677593231201},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22167745232582092},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1747240126132965},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14023154973983765}],"concepts":[{"id":"https://openalex.org/C2777740907","wikidata":"https://www.wikidata.org/wiki/Q332280","display_name":"Stacker","level":2,"score":0.9482839107513428},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.8250750303268433},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6451203227043152},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.561147153377533},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5504103302955627},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.5257083773612976},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5205334424972534},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.512122631072998},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.500760555267334},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4862171709537506},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4613957107067108},{"id":"https://openalex.org/C14961307","wikidata":"https://www.wikidata.org/wiki/Q5377176","display_name":"Energy minimization","level":2,"score":0.42171648144721985},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3241436779499054},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3092677593231201},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22167745232582092},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1747240126132965},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14023154973983765},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C147597530","wikidata":"https://www.wikidata.org/wiki/Q369472","display_name":"Computational chemistry","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2017.2710953","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2017.2710953","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.75,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W574472091","https://openalex.org/W1448623749","https://openalex.org/W1601934906","https://openalex.org/W1965265565","https://openalex.org/W1991987282","https://openalex.org/W1995206824","https://openalex.org/W2001542096","https://openalex.org/W2002415628","https://openalex.org/W2007617424","https://openalex.org/W2030794369","https://openalex.org/W2063350972","https://openalex.org/W2063788750","https://openalex.org/W2096842737","https://openalex.org/W2123871098","https://openalex.org/W2138230283","https://openalex.org/W2139361041","https://openalex.org/W2174733634","https://openalex.org/W2496722619","https://openalex.org/W2565031521","https://openalex.org/W3144501209","https://openalex.org/W4246794987","https://openalex.org/W4302925651","https://openalex.org/W6666209367"],"related_works":["https://openalex.org/W2375294040","https://openalex.org/W2118673613","https://openalex.org/W2370392548","https://openalex.org/W2374327645","https://openalex.org/W2381262500","https://openalex.org/W4282918333","https://openalex.org/W2362146220","https://openalex.org/W2383500945","https://openalex.org/W2365839110","https://openalex.org/W4246356154"],"abstract_inverted_index":{"This":[0],"brief":[1],"presents":[2],"a":[3,15,28,62],"flatness-based":[4],"optimal":[5,39],"trajectory":[6,40,55],"planning":[7,56],"methodology":[8,66],"combined":[9],"with":[10],"an":[11],"energy-based":[12,64],"feedback":[13,43,65,99],"for":[14,21],"single":[16],"mast":[17],"stacker":[18],"crane":[19],"in,":[20],"instance,":[22],"automated":[23],"warehouses.":[24],"By":[25],"means":[26],"of":[27,53,94],"laboratory":[29,89],"model,":[30],"we":[31],"address":[32],"the":[33,50,54,74,88,92,95],"classical":[34],"problems":[35],"modeling,":[36],"flatness":[37],"analysis,":[38],"planning,":[41],"and":[42,98],"design.":[44],"The":[45],"main":[46],"focus":[47],"is":[48],"on":[49,61],"efficient":[51],"formulation":[52],"problem":[57],"as":[58,60],"well":[59],"novel":[63],"exploiting":[67],"structural":[68],"invariants":[69],"(Casimir":[70],"functionals).":[71],"To":[72],"solve":[73],"arising":[75],"optimization":[76],"problem,":[77],"state-of-the-art":[78],"software":[79],"packages":[80],"are":[81],"utilized.":[82],"Moreover,":[83],"experimental":[84],"results":[85],"obtained":[86],"from":[87],"model":[90],"demonstrate":[91],"capability":[93],"proposed":[96],"feedforward":[97],"methodology.":[100]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
