{"id":"https://openalex.org/W4385975548","doi":"https://doi.org/10.1109/tro.2023.3301298","title":"Time-Optimal Handover Trajectory Planning for Aerial Manipulators Based on Discrete Mechanics and Complementarity Constraints","display_name":"Time-Optimal Handover Trajectory Planning for Aerial Manipulators Based on Discrete Mechanics and Complementarity Constraints","publication_year":2023,"publication_date":"2023-08-18","ids":{"openalex":"https://openalex.org/W4385975548","doi":"https://doi.org/10.1109/tro.2023.3301298"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3301298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3301298","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070235642","display_name":"Wei Luo","orcid":"https://orcid.org/0000-0003-4016-765X"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wei Luo","raw_affiliation_strings":["Institute of Engineering and Computational Me-chanics, University of Stuttgart, Stuttgart, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4016-765X","affiliations":[{"raw_affiliation_string":"Institute of Engineering and Computational Me-chanics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016439571","display_name":"Jingshan Chen","orcid":"https://orcid.org/0000-0002-5617-0469"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jingshan Chen","raw_affiliation_strings":["Institute of Engineering and Computational Me-chanics, University of Stuttgart, Stuttgart, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5617-0469","affiliations":[{"raw_affiliation_string":"Institute of Engineering and Computational Me-chanics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040753818","display_name":"Henrik Ebel","orcid":"https://orcid.org/0000-0002-2632-6960"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Henrik Ebel","raw_affiliation_strings":["Institute of Engineering and Computational Me-chanics, University of Stuttgart, Stuttgart, Germany"],"raw_orcid":"https://orcid.org/0000-0002-2632-6960","affiliations":[{"raw_affiliation_string":"Institute of Engineering and Computational Me-chanics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044233744","display_name":"Peter Eberhard","orcid":"https://orcid.org/0000-0003-1809-4407"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Peter Eberhard","raw_affiliation_strings":["Institute of Engineering and Computational Me-chanics, University of Stuttgart, Stuttgart, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1809-4407","affiliations":[{"raw_affiliation_string":"Institute of Engineering and Computational Me-chanics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I100066346"],"apc_list":null,"apc_paid":null,"fwci":2.0209,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.88936296,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"39","issue":"6","first_page":"4332","last_page":"4349"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9966999888420105,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9890000224113464,"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/complementarity","display_name":"Complementarity (molecular biology)","score":0.7251887321472168},{"id":"https://openalex.org/keywords/lagrangian-mechanics","display_name":"Lagrangian mechanics","score":0.5939209461212158},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5896769165992737},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5890964269638062},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5373911261558533},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5335009694099426},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.46685343980789185},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46654486656188965},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.46250268816947937},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39632484316825867},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3674737811088562},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27052390575408936},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22326573729515076},{"id":"https://openalex.org/keywords/analytical-mechanics","display_name":"Analytical mechanics","score":0.19009920954704285},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18340101838111877},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.094694584608078}],"concepts":[{"id":"https://openalex.org/C202269582","wikidata":"https://www.wikidata.org/wiki/Q2644277","display_name":"Complementarity (molecular biology)","level":2,"score":0.7251887321472168},{"id":"https://openalex.org/C499771625","wikidata":"https://www.wikidata.org/wiki/Q324669","display_name":"Lagrangian mechanics","level":5,"score":0.5939209461212158},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5896769165992737},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5890964269638062},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5373911261558533},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5335009694099426},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.46685343980789185},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46654486656188965},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.46250268816947937},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39632484316825867},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3674737811088562},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27052390575408936},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22326573729515076},{"id":"https://openalex.org/C206183056","wikidata":"https://www.wikidata.org/wiki/Q833065","display_name":"Analytical mechanics","level":4,"score":0.19009920954704285},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18340101838111877},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.094694584608078},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C15184713","wikidata":"https://www.wikidata.org/wiki/Q7269042","display_name":"Quantum dynamics","level":3,"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/C84114770","wikidata":"https://www.wikidata.org/wiki/Q46344","display_name":"Quantum","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3301298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3301298","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7656613425","display_name":"Mehr Intelligenz wagen  Designassistenten in Mechanik und Dynamik (SPP 2353)  Koordinationsantrag","funder_award_id":"501890093","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G7758664893","display_name":null,"funder_award_id":"201808080061","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G8257042843","display_name":"Untersuchung der Mehrk\u00f6rperdynamik und Regelung f\u00fcr den kollaborativen Transport elastischer Objekte mithilfe eines heterogenen Schwarms von fliegenden und fahrenden mobilen Robotern","funder_award_id":"433183605","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W1578294898","https://openalex.org/W1846830349","https://openalex.org/W1963932222","https://openalex.org/W1989711829","https://openalex.org/W2000008197","https://openalex.org/W2048820947","https://openalex.org/W2057607924","https://openalex.org/W2062388571","https://openalex.org/W2065576483","https://openalex.org/W2083546784","https://openalex.org/W2099454002","https://openalex.org/W2113753258","https://openalex.org/W2123871098","https://openalex.org/W2128285126","https://openalex.org/W2162991084","https://openalex.org/W2170039048","https://openalex.org/W2323178299","https://openalex.org/W2323490143","https://openalex.org/W2566883285","https://openalex.org/W2735140382","https://openalex.org/W2753870028","https://openalex.org/W2755433079","https://openalex.org/W2768045906","https://openalex.org/W2770279027","https://openalex.org/W2792083172","https://openalex.org/W2842089854","https://openalex.org/W2889829150","https://openalex.org/W2891384194","https://openalex.org/W2902093375","https://openalex.org/W2903945436","https://openalex.org/W2909642387","https://openalex.org/W2963689432","https://openalex.org/W2967682328","https://openalex.org/W2967840105","https://openalex.org/W2968243907","https://openalex.org/W2981203694","https://openalex.org/W3035045431","https://openalex.org/W3135125952","https://openalex.org/W3160050461","https://openalex.org/W3185165122","https://openalex.org/W3200465827","https://openalex.org/W3202317978","https://openalex.org/W3207305612","https://openalex.org/W3207968845","https://openalex.org/W4206330309","https://openalex.org/W4213062467","https://openalex.org/W4224222435","https://openalex.org/W4285080425","https://openalex.org/W4285163488","https://openalex.org/W4288047704","https://openalex.org/W4288047819","https://openalex.org/W4289145348","https://openalex.org/W6755463424","https://openalex.org/W6766978945"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W2059768187","https://openalex.org/W4247925126","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4327774218","https://openalex.org/W3206445629","https://openalex.org/W2605096541","https://openalex.org/W3200286695","https://openalex.org/W4379143281"],"abstract_inverted_index":{"Planning":[0],"a":[1,58,67,70,75],"time-optimal":[2,76],"trajectory":[3,84],"for":[4],"aerial":[5,47,62,175],"robots":[6],"is":[7,127,164],"critical":[8],"in":[9,25,74],"many":[10],"drone":[11],"applications,":[12],"such":[13],"as":[14,43,45],"rescue":[15],"missions":[16],"and":[17,117,149,169],"package":[18],"delivery,":[19],"which":[20,86,110],"have":[21],"been":[22],"widely":[23],"researched":[24],"recent":[26],"years.":[27],"However,":[28],"it":[29,36,88],"still":[30],"involves":[31],"several":[32],"challenges,":[33],"particularly":[34],"when":[35],"comes":[37],"to":[38,90,97,140],"incorporating":[39],"special":[40],"task":[41,101],"requirements":[42],"well":[44],"the":[46,51,82,92,99,112,121,124,153,158,161],"robot's":[48],"dynamics":[49,126],"into":[50],"planning.":[52],"In":[53,120],"this":[54],"work,":[55],"we":[56,105],"study":[57],"case":[59],"where":[60],"an":[61,107],"manipulator":[63],"shall":[64],"pick":[65],"up":[66,81],"parcel":[68],"from":[69],"moving":[71],"mobile":[72],"robot":[73],"manner.":[77],"Rather":[78],"than":[79],"setting":[80],"approach":[83],"manually,":[85],"makes":[87],"difficult":[89],"determine":[91],"optimal":[93],"total":[94],"travel":[95],"time":[96],"accomplish":[98],"desired":[100,154],"within":[102],"dynamic":[103],"limits,":[104],"propose":[106],"optimization":[108],"framework,":[109],"utilizes":[111],"framework":[113,163],"of":[114,160],"discrete":[115,130],"mechanics":[116,133],"complementarity":[118,155],"constraints.":[119,156],"proposed":[122,162],"approach,":[123],"system":[125],"considered":[128],"via":[129],"variational":[131],"Lagrangian":[132],"that":[134],"provides":[135],"reliable":[136],"estimation":[137],"results":[138],"according":[139],"our":[141,173],"experiments.":[142],"The":[143],"handover":[144],"opportunities":[145],"are":[146],"automatically":[147],"determined":[148],"arranged":[150],"based":[151],"on":[152],"Finally,":[157],"performance":[159],"verified":[165],"with":[166,172],"numerical":[167],"simulations":[168],"hardware":[170],"experiments":[171],"self-designed":[174],"manipulator.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
