{"id":"https://openalex.org/W4361856545","doi":"https://doi.org/10.1109/tro.2023.3255587","title":"Dynamic Optimization Fabrics for Motion Generation","display_name":"Dynamic Optimization Fabrics for Motion Generation","publication_year":2023,"publication_date":"2023-03-29","ids":{"openalex":"https://openalex.org/W4361856545","doi":"https://doi.org/10.1109/tro.2023.3255587"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3255587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3255587","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repository.tudelft.nl/file/File_6191b367-cde6-4cf9-bfe6-ce7586cc5f54","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012696928","display_name":"Max Spahn","orcid":"https://orcid.org/0000-0002-9829-6991"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Max Spahn","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","Department of Cognitive Robotics, Delft University of Technology, 2628 CD Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-9829-6991","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, 2628 CD Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012384272","display_name":"Martijn Wisse","orcid":"https://orcid.org/0000-0001-8210-7562"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Martijn Wisse","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0001-8210-7562","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013297671","display_name":"Javier Alonso\u2013Mora","orcid":"https://orcid.org/0000-0003-0058-570X"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Javier Alonso-Mora","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-0058-570X","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5012696928"],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":1.17,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.80296647,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"39","issue":"4","first_page":"2684","last_page":"2699"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9993000030517578,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9925000071525574,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.8110219240188599},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6157241463661194},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.6091647744178772},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5561533570289612},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5244303345680237},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5226028561592102},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.521291971206665},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.5112333297729492},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5110100507736206},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.42362451553344727},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4210960865020752},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4157911539077759},{"id":"https://openalex.org/keywords/differential-evolution","display_name":"Differential evolution","score":0.41456782817840576},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4134692847728729},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3837319612503052},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2681286334991455},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25746721029281616},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15397903323173523},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10270404815673828}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.8110219240188599},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6157241463661194},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.6091647744178772},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5561533570289612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5244303345680237},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5226028561592102},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.521291971206665},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.5112333297729492},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5110100507736206},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.42362451553344727},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4210960865020752},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4157911539077759},{"id":"https://openalex.org/C74750220","wikidata":"https://www.wikidata.org/wiki/Q2662197","display_name":"Differential evolution","level":2,"score":0.41456782817840576},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4134692847728729},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3837319612503052},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2681286334991455},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25746721029281616},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15397903323173523},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10270404815673828},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2023.3255587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3255587","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:tudelft.nl:uuid:9e1f41b9-d087-492e-8a86-d6abd68a9e7a","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:9e1f41b9-d087-492e-8a86-d6abd68a9e7a","pdf_url":"https://repository.tudelft.nl/file/File_6191b367-cde6-4cf9-bfe6-ce7586cc5f54","source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"}],"best_oa_location":{"id":"pmh:oai:tudelft.nl:uuid:9e1f41b9-d087-492e-8a86-d6abd68a9e7a","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:9e1f41b9-d087-492e-8a86-d6abd68a9e7a","pdf_url":"https://repository.tudelft.nl/file/File_6191b367-cde6-4cf9-bfe6-ce7586cc5f54","source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"},"sustainable_development_goals":[{"score":0.5600000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4361856545.pdf","grobid_xml":"https://content.openalex.org/works/W4361856545.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W1978956894","https://openalex.org/W2009594301","https://openalex.org/W2010566422","https://openalex.org/W2040161377","https://openalex.org/W2083417417","https://openalex.org/W2112474089","https://openalex.org/W2116341587","https://openalex.org/W2153628631","https://openalex.org/W2198935040","https://openalex.org/W2604115276","https://openalex.org/W2607001947","https://openalex.org/W2788030459","https://openalex.org/W2963105220","https://openalex.org/W2964337106","https://openalex.org/W2967552616","https://openalex.org/W2971244547","https://openalex.org/W2992833799","https://openalex.org/W3027372030","https://openalex.org/W3090017599","https://openalex.org/W3095712629","https://openalex.org/W3120117387","https://openalex.org/W3140178043","https://openalex.org/W3191541459","https://openalex.org/W3200832869","https://openalex.org/W3206230600","https://openalex.org/W3206619562","https://openalex.org/W3207939773","https://openalex.org/W4294411035","https://openalex.org/W4306177985","https://openalex.org/W4312891834","https://openalex.org/W6748202546","https://openalex.org/W6760116675","https://openalex.org/W6781302727","https://openalex.org/W6784742976","https://openalex.org/W6801436214","https://openalex.org/W6845979328"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2123897685","https://openalex.org/W2293606346","https://openalex.org/W1563391512","https://openalex.org/W2383775285","https://openalex.org/W3125414203"],"abstract_inverted_index":{"Optimization":[0],"fabrics":[1,78,87],"are":[2,13],"a":[3,24,106,122,134],"geometric":[4],"approach":[5],"to":[6,32,50,102],"real-time":[7],"local":[8],"motion":[9,26],"generation,":[10],"where":[11],"motions":[12],"designed":[14],"by":[15],"the":[16,66,72,138],"composition":[17],"of":[18,55,65,109,129,133],"several":[19,119],"differential":[20],"equations":[21],"that":[22,40,48,85],"exhibit":[23],"desired":[25,51],"behavior.":[27],"We":[28,46],"generalize":[29],"this":[30],"framework":[31],"dynamic":[33],"scenarios":[34],"and":[35,38,53,79,83,95,131],"nonholonomic":[36,123],"robots":[37],"prove":[39],"fundamental":[41],"properties":[42],"can":[43,58,88],"be":[44,59],"conserved.":[45],"show":[47,84],"convergence":[49],"trajectories":[52,91],"avoidance":[54,132],"moving":[56,135],"obstacles":[57],"guaranteed":[60],"using":[61],"simple":[62],"construction":[63],"rules":[64],"components.":[67],"In":[68],"addition,":[69],"we":[70,114],"present":[71,115],"first":[73],"quantitative":[74],"comparisons":[75],"between":[76],"optimization":[77,86],"model":[80],"predictive":[81],"control":[82],"generate":[89],"similar":[90],"with":[92,105,126],"better":[93],"scalability,":[94],"thus,":[96],"much":[97],"higher":[98],"replanning":[99],"frequency":[100],"(up":[101],"500":[103],"Hz":[104],"7":[107],"degrees":[108,128],"freedom":[110,130],"robotic":[111],"arm).":[112],"Finally,":[113],"empirical":[116],"results":[117],"on":[118],"robots,":[120],"including":[121],"mobile":[124],"manipulator":[125],"10":[127],"human,":[136],"supporting":[137],"theoretical":[139],"findings.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}