{"id":"https://openalex.org/W1990247395","doi":"https://doi.org/10.1109/cdc.2011.6160887","title":"Trajectory planning for manipulators based on the optimal concatenation of LQ control primitives","display_name":"Trajectory planning for manipulators based on the optimal concatenation of LQ control primitives","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W1990247395","doi":"https://doi.org/10.1109/cdc.2011.6160887","mag":"1990247395"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2011.6160887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160887","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","raw_type":"proceedings-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/A5087394965","display_name":"M. Steinegger","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Michael Steinegger","raw_affiliation_strings":["Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, 80290, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, 80290, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021830094","display_name":"Benjamin Passenberg","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benjamin Passenberg","raw_affiliation_strings":["Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, 80290, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, 80290, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032338124","display_name":"Marion Leibold","orcid":"https://orcid.org/0000-0002-2802-5600"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marion Leibold","raw_affiliation_strings":["Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, 80290, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, 80290, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081223790","display_name":"Martin Buss","orcid":"https://orcid.org/0000-0002-1776-2752"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Buss","raw_affiliation_strings":["Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, 80290, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, 80290, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5087394965"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":1.3139,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.83674386,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"39","issue":null,"first_page":"2837","last_page":"2842"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987999796867371,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987999796867371,"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":0.9983000159263611,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9955000281333923,"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/concatenation","display_name":"Concatenation (mathematics)","score":0.713060200214386},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6306293606758118},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6227992177009583},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.6157681345939636},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5829845070838928},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5689353346824646},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5613451600074768},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5251662135124207},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.523388683795929},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4842259883880615},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.407679945230484},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37729305028915405},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.374576210975647},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.30833810567855835},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17709925770759583},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1436994969844818}],"concepts":[{"id":"https://openalex.org/C87619178","wikidata":"https://www.wikidata.org/wiki/Q126002","display_name":"Concatenation (mathematics)","level":2,"score":0.713060200214386},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6306293606758118},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6227992177009583},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.6157681345939636},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5829845070838928},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5689353346824646},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5613451600074768},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5251662135124207},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.523388683795929},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4842259883880615},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.407679945230484},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37729305028915405},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.374576210975647},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30833810567855835},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17709925770759583},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1436994969844818},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2011.6160887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160887","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1118271","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1118271","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W110801934","https://openalex.org/W130216483","https://openalex.org/W157454455","https://openalex.org/W1487127700","https://openalex.org/W1514910877","https://openalex.org/W1564897360","https://openalex.org/W1966126529","https://openalex.org/W1975318316","https://openalex.org/W2088659777","https://openalex.org/W2100538121","https://openalex.org/W2108579172","https://openalex.org/W2123967136","https://openalex.org/W2128582898","https://openalex.org/W2158234148","https://openalex.org/W2174035664","https://openalex.org/W2614009588","https://openalex.org/W2961703895","https://openalex.org/W6604488684","https://openalex.org/W6606411100","https://openalex.org/W6630964845","https://openalex.org/W6673174516","https://openalex.org/W6678157427","https://openalex.org/W6737937732"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2051058708","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W2373577936"],"abstract_inverted_index":{"A":[0],"trajectory":[1,54,121],"planning":[2,73,122],"method":[3],"for":[4,37,92,120],"robotic":[5],"systems":[6],"consisting":[7],"of":[8,17,101,104,128],"kinematic":[9],"chains":[10],"is":[11,35,55,123],"introduced":[12],"based":[13,113],"on":[14,114],"the":[15,38,52,87,99,117,126],"concatenation":[16],"control":[18,32],"primitives.":[19],"The":[20,45],"parameterized,":[21],"optimal":[22,31,56,115],"motion":[23,72],"primitives":[24,46,94],"are":[25,67,76,95],"derived":[26],"from":[27],"a":[28,70,102],"parametric,":[29],"linear-quadratic":[30],"problem,":[33],"which":[34],"formulated":[36],"input-to-state":[39],"and":[40,75],"input-to-output":[41],"linearized":[42],"robot":[43,88],"dynamics.":[44],"can":[47,131],"be":[48,132],"concatenated,":[49],"such":[50],"that":[51],"resulting":[53],"with":[57,84],"respect":[58],"to":[59,81,110],"desired":[60],"intermediate":[61,65],"points.":[62],"Here,":[63],"sub-optimal":[64],"points":[66],"found":[68],"by":[69,98,135],"heuristic":[71],"algorithm":[74],"iteratively":[77],"inserted,":[78],"if":[79],"necessary,":[80],"avoid":[82],"collisions":[83],"obstacles":[85],"in":[86],"workspace.":[89],"All":[90],"parameters":[91],"concatenated":[93],"uniquely":[96],"determined":[97],"solution":[100],"system":[103,127],"parameterized":[105],"linear":[106,129],"equations.":[107],"In":[108],"comparison":[109],"ordinary":[111],"approaches":[112],"control,":[116],"computational":[118],"effort":[119],"reduced,":[124],"since":[125],"equations":[130],"solved":[133],"on-line":[134],"algebraic":[136],"computations.":[137]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}