{"id":"https://openalex.org/W4403183042","doi":"https://doi.org/10.1109/tie.2024.3454423","title":"A Convergence Guaranteed Multiple-Shooting DDP Method for Optimization-Based Robot Motion Planning","display_name":"A Convergence Guaranteed Multiple-Shooting DDP Method for Optimization-Based Robot Motion Planning","publication_year":2024,"publication_date":"2024-10-07","ids":{"openalex":"https://openalex.org/W4403183042","doi":"https://doi.org/10.1109/tie.2024.3454423"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2024.3454423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3454423","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5101834059","display_name":"Yunlai Wang","orcid":"https://orcid.org/0000-0002-3221-2177"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yunlai Wang","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing, China","School of Mechatronical Engineering, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100774722","display_name":"Hui Li","orcid":"https://orcid.org/0000-0003-1132-3238"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Li","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing, China","School of Mechatronical Engineering, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050003106","display_name":"Xuechao Chen","orcid":"https://orcid.org/0000-0003-1136-3053"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuechao Chen","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing, China","School of Mechatronical Engineering, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101909869","display_name":"Xiao Huang","orcid":"https://orcid.org/0000-0002-5670-028X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Huang","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing, China","School of Mechatronical Engineering, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102897874","display_name":"Zhihong Jiang","orcid":"https://orcid.org/0000-0001-8133-6312"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihong Jiang","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing, China","School of Mechatronical Engineering, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS), Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101834059"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.2493,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.5368291,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"72","issue":"5","first_page":"5001","last_page":"5011"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9948999881744385,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9740999937057495,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/convergence","display_name":"Convergence (economics)","score":0.6805455088615417},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6194449663162231},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5428573489189148},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5375980734825134},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4680347740650177},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.39080047607421875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2919479012489319},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1773911714553833}],"concepts":[{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6805455088615417},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6194449663162231},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5428573489189148},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5375980734825134},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4680347740650177},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39080047607421875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2919479012489319},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1773911714553833},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2024.3454423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3454423","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W195033972","https://openalex.org/W646582900","https://openalex.org/W1864112212","https://openalex.org/W1969354366","https://openalex.org/W1970101292","https://openalex.org/W1971086298","https://openalex.org/W2087617385","https://openalex.org/W2108631580","https://openalex.org/W2123871098","https://openalex.org/W2142224528","https://openalex.org/W2293883387","https://openalex.org/W2334782222","https://openalex.org/W2737829489","https://openalex.org/W2963801017","https://openalex.org/W3000464739","https://openalex.org/W3004162504","https://openalex.org/W3081791272","https://openalex.org/W3096684992","https://openalex.org/W3108634522","https://openalex.org/W3123076862","https://openalex.org/W3128466740","https://openalex.org/W3180158572","https://openalex.org/W3205548345","https://openalex.org/W4283734789","https://openalex.org/W4284968714","https://openalex.org/W4295832068","https://openalex.org/W4296966920","https://openalex.org/W4365420601","https://openalex.org/W4378696928","https://openalex.org/W4384161686","https://openalex.org/W4385063004","https://openalex.org/W4386156806","https://openalex.org/W4387415055","https://openalex.org/W4387682164","https://openalex.org/W4387789865","https://openalex.org/W4388273911","https://openalex.org/W4388692454","https://openalex.org/W4392826353","https://openalex.org/W4393139803","https://openalex.org/W4394564100","https://openalex.org/W4399511590","https://openalex.org/W4400266735"],"related_works":["https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W8302103","https://openalex.org/W2111158727","https://openalex.org/W1809059965","https://openalex.org/W2024668666","https://openalex.org/W1517908938","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2132826624"],"abstract_inverted_index":{"Optimization-based":[0],"motion":[1,118],"planning":[2,119],"plays":[3],"a":[4,45,90,126],"pivotal":[5],"role":[6],"in":[7,40,132],"addressing":[8],"high-dimensional":[9,25,135],"robotic":[10],"manipulation":[11],"tasks.":[12,120],"This":[13,56],"article":[14],"studies":[15],"the":[16,35,52,60,75,83,87,94,97,105,110,114,134],"multiple-shooting":[17],"differential":[18],"dynamic":[19],"programming":[20],"(MS-DDP)":[21],"method":[22,112],"to":[23,50,71,103],"solve":[24,59],"constrained":[26],"problems":[27],"with":[28,138],"Markovian":[29,76],"and":[30,107],"non-Markovian":[31,36],"processes.":[32],"To":[33],"tackle":[34],"shortest-path":[37,136],"problem":[38,137],"(SPP)":[39],"robot":[41,117,128],"manipulation,":[42],"we":[43,80],"propose":[44],"fully":[46],"multiple":[47],"shooting":[48],"strategy":[49,57],"handle":[51],"dependence":[53],"between":[54],"states.":[55],"can":[58],"SPP":[61],"efficiently":[62],"by":[63],"utilizing":[64],"state":[65],"augmentation":[66],"at":[67],"each":[68],"time":[69],"step":[70],"reformulate":[72],"it":[73],"into":[74],"process":[77],"format.":[78],"Moreover,":[79],"theoretically":[81],"prove":[82],"quadratic":[84],"convergence":[85],"of":[86,96,109,116],"MS-DDP,":[88],"providing":[89],"theoretical":[91],"guarantee":[92],"for":[93],"optimality":[95,106],"planned":[98],"trajectory.":[99],"Experiments":[100],"are":[101],"conducted":[102],"demonstrate":[104],"efficiency":[108],"MS-DDP":[111],"on":[113,125],"benchmarks":[115],"The":[121],"real-world":[122],"experimental":[123],"results":[124],"dual-arm":[127],"validate":[129],"its":[130],"superiority":[131],"solving":[133],"complex":[139],"constraints.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}