{"id":"https://openalex.org/W1956506422","doi":"https://doi.org/10.1109/etfa.2015.7301401","title":"Motion control for omni-drive servicerobots under Kinematic, Dynamic And Shape Constraints","display_name":"Motion control for omni-drive servicerobots under Kinematic, Dynamic And Shape Constraints","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W1956506422","doi":"https://doi.org/10.1109/etfa.2015.7301401","mag":"1956506422"},"language":"en","primary_location":{"id":"doi:10.1109/etfa.2015.7301401","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2015.7301401","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 20th Conference on Emerging Technologies &amp; Factory Automation (ETFA)","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/A5009273084","display_name":"Timo Blender","orcid":null},"institutions":[{"id":"https://openalex.org/I4210163522","display_name":"Technische Hochschule Ulm","ror":"https://ror.org/05e5kd476","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210163522"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Timo Blender","raw_affiliation_strings":["University of Applied Sciences Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"University of Applied Sciences Ulm, Germany","institution_ids":["https://openalex.org/I4210163522"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041710307","display_name":"Christian Schlegel","orcid":null},"institutions":[{"id":"https://openalex.org/I4210163522","display_name":"Technische Hochschule Ulm","ror":"https://ror.org/05e5kd476","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210163522"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Schlegel","raw_affiliation_strings":["University of Applied Sciences Ulm, Ulm, Germany","University of Applied Sciences Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"University of Applied Sciences Ulm, Ulm, Germany","institution_ids":["https://openalex.org/I4210163522"]},{"raw_affiliation_string":"University of Applied Sciences Ulm, Germany","institution_ids":["https://openalex.org/I4210163522"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5009273084"],"corresponding_institution_ids":["https://openalex.org/I4210163522"],"apc_list":null,"apc_paid":null,"fwci":0.3682,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.67237278,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9988999962806702,"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":0.9962000250816345,"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/kinematics","display_name":"Kinematics","score":0.7191305756568909},{"id":"https://openalex.org/keywords/cuboid","display_name":"Cuboid","score":0.6508392095565796},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6392635703086853},{"id":"https://openalex.org/keywords/lookup-table","display_name":"Lookup table","score":0.5303837656974792},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.47654324769973755},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4549815058708191},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41723600029945374},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4044077694416046},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40095895528793335},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31240975856781006},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26247966289520264},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16948291659355164},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11485517024993896}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7191305756568909},{"id":"https://openalex.org/C203527163","wikidata":"https://www.wikidata.org/wiki/Q262959","display_name":"Cuboid","level":2,"score":0.6508392095565796},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6392635703086853},{"id":"https://openalex.org/C134835016","wikidata":"https://www.wikidata.org/wiki/Q690265","display_name":"Lookup table","level":2,"score":0.5303837656974792},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.47654324769973755},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4549815058708191},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41723600029945374},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4044077694416046},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40095895528793335},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31240975856781006},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26247966289520264},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16948291659355164},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11485517024993896},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/etfa.2015.7301401","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2015.7301401","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 20th Conference on Emerging Technologies &amp; Factory Automation (ETFA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2103120971","https://openalex.org/W2104067547","https://openalex.org/W2112278911","https://openalex.org/W2114476723","https://openalex.org/W2117211893","https://openalex.org/W2120125074","https://openalex.org/W2125409550","https://openalex.org/W2142627558","https://openalex.org/W2165772133","https://openalex.org/W2170740604","https://openalex.org/W2171331791","https://openalex.org/W6675844761","https://openalex.org/W6677603713"],"related_works":["https://openalex.org/W2387231455","https://openalex.org/W2036512149","https://openalex.org/W2329792127","https://openalex.org/W2388061575","https://openalex.org/W3099045389","https://openalex.org/W2374882918","https://openalex.org/W1991123685","https://openalex.org/W2391761581","https://openalex.org/W2891138113","https://openalex.org/W2402852349"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,25,29,58,84,128,132,195,204],"fast":[4],"reactive":[5],"obstacle":[6,175],"avoidance":[7],"approach":[8,52,97,123],"for":[9,115],"omnidirectional":[10],"driving":[11,208],"is":[12,16,89,99,213],"presented.":[13],"The":[14,143,164],"method":[15],"based":[17,90],"on":[18,91,155],"the":[19,33,39,43,46,50,55,63,66,71,92,118,121,125,139,149,156,169,181,207,211],"dynamic":[20,40,141],"window":[21,30],"approach,":[22],"but":[23,108],"uses":[24],"cuboid":[26],"instead":[27],"of":[28,42,57,65,127,135,168,198,210],"to":[31,38,173,180,193],"limit":[32],"3-dimensional":[34],"search":[35],"space":[36],"accordingly":[37],"constraints":[41],"robot.":[44,59],"Besides":[45],"kinematics":[47],"and":[48,81,184],"dynamics,":[49],"presented":[51],"also":[53],"considers":[54],"shape":[56],"To":[60],"cope":[61],"with":[62],"effort":[64,167],"time":[67],"consuming":[68],"distance":[69,73,144],"calculations,":[70],"remaining":[72],"values":[74,145],"are":[75,146],"precalculated":[76],"in":[77,102,202],"an":[78],"offline":[79],"part":[80],"provided":[82],"by":[83,160],"lookup":[85,151],"table.":[86],"This":[87],"procedure":[88],"Curvature":[93],"Distance":[94],"Lookup":[95],"(CDL)":[96],"which":[98,109],"extensively":[100],"used":[101],"several":[103],"real":[104],"world":[105],"robotic":[106],"applications":[107],"was":[110],"so":[111],"far":[112],"only":[113],"implemented":[114,192],"2-DOFs.":[116],"During":[117],"online":[119],"phase,":[120],"extended":[122],"enables":[124],"selection":[126],"motion":[129],"command":[130],"from":[131,148,177],"wide":[133],"range":[134],"curvatures":[136],"(3-DOFs)":[137],"within":[138],"current":[140],"cuboid.":[142],"queried":[147],"corresponding":[150,178],"table":[152],"entries":[153],"depending":[154],"occupancy":[157],"grid":[158],"determined":[159],"latest":[161],"sensor":[162],"information.":[163],"reduced":[165],"computational":[166],"control":[170],"loop":[171],"allows":[172],"consider":[174],"information":[176],"sources":[179],"full":[182],"extent":[183],"without":[185],"preprocessing.":[186],"Furthermore,":[187],"complex":[188],"heuristics":[189],"can":[190],"be":[191],"evaluate":[194],"high":[196],"number":[197],"omni-drive":[199],"velocity":[200],"triples":[201],"such":[203],"way":[205],"that":[206],"behavior":[209],"robot":[212],"influenced":[214],"accordingly.":[215]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
