{"id":"https://openalex.org/W2092711598","doi":"https://doi.org/10.1177/0278364913517148","title":"Planning high order trajectories with general initial and final conditions and asymmetric bounds","display_name":"Planning high order trajectories with general initial and final conditions and asymmetric bounds","publication_year":2014,"publication_date":"2014-02-20","ids":{"openalex":"https://openalex.org/W2092711598","doi":"https://doi.org/10.1177/0278364913517148","mag":"2092711598"},"language":"en","primary_location":{"id":"doi:10.1177/0278364913517148","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364913517148","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5052328018","display_name":"Ben Ezair","orcid":null},"institutions":[{"id":"https://openalex.org/I164950643","display_name":"Open University of Israel","ror":"https://ror.org/027z64205","country_code":"IL","type":"education","lineage":["https://openalex.org/I164950643"]},{"id":"https://openalex.org/I204136569","display_name":"The Open University","ror":"https://ror.org/05mzfcs16","country_code":"GB","type":"education","lineage":["https://openalex.org/I204136569"]}],"countries":["GB","IL"],"is_corresponding":false,"raw_author_name":"Ben Ezair","raw_affiliation_strings":["The Department of Mathematics and Computer Science, The Open University, Ra\u2019anana, Israel","The Department of Mathematics and Computer Science, The Open University, Ra'anana, Israel#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Mathematics and Computer Science, The Open University, Ra\u2019anana, Israel","institution_ids":["https://openalex.org/I164950643"]},{"raw_affiliation_string":"The Department of Mathematics and Computer Science, The Open University, Ra'anana, Israel#TAB#","institution_ids":["https://openalex.org/I204136569"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080737186","display_name":"Tamir Tassa","orcid":"https://orcid.org/0000-0001-9681-8824"},"institutions":[{"id":"https://openalex.org/I164950643","display_name":"Open University of Israel","ror":"https://ror.org/027z64205","country_code":"IL","type":"education","lineage":["https://openalex.org/I164950643"]},{"id":"https://openalex.org/I204136569","display_name":"The Open University","ror":"https://ror.org/05mzfcs16","country_code":"GB","type":"education","lineage":["https://openalex.org/I204136569"]}],"countries":["GB","IL"],"is_corresponding":false,"raw_author_name":"Tamir Tassa","raw_affiliation_strings":["The Department of Mathematics and Computer Science, The Open University, Ra\u2019anana, Israel","The Department of Mathematics and Computer Science, The Open University, Ra'anana, Israel#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Mathematics and Computer Science, The Open University, Ra\u2019anana, Israel","institution_ids":["https://openalex.org/I164950643"]},{"raw_affiliation_string":"The Department of Mathematics and Computer Science, The Open University, Ra'anana, Israel#TAB#","institution_ids":["https://openalex.org/I204136569"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030950811","display_name":"Zvi Shiller","orcid":"https://orcid.org/0000-0003-1303-0367"},"institutions":[{"id":"https://openalex.org/I52170813","display_name":"Ariel University","ror":"https://ror.org/03nz8qe97","country_code":"IL","type":"education","lineage":["https://openalex.org/I52170813"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Zvi Shiller","raw_affiliation_strings":["Department of Mechanical Engineering and Mechatronics, Ariel University, Ariel, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Mechatronics, Ariel University, Ariel, Israel","institution_ids":["https://openalex.org/I52170813"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1834,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.9054908,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"33","issue":"6","first_page":"898","last_page":"916"},"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":0.9994000196456909,"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/T10142","display_name":"Formal Methods in Verification","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/synchronizing","display_name":"Synchronizing","score":0.8319298028945923},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7971433401107788},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.6642083525657654},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5869823098182678},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5690256357192993},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5012679100036621},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.47108137607574463},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.41022366285324097},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4038441777229309},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36722108721733093},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.307635635137558},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30652037262916565},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12435948848724365}],"concepts":[{"id":"https://openalex.org/C162932704","wikidata":"https://www.wikidata.org/wiki/Q1058791","display_name":"Synchronizing","level":3,"score":0.8319298028945923},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7971433401107788},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.6642083525657654},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5869823098182678},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5690256357192993},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5012679100036621},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.47108137607574463},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.41022366285324097},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4038441777229309},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36722108721733093},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.307635635137558},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30652037262916565},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12435948848724365},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364913517148","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364913517148","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1587799944","https://openalex.org/W1970412155","https://openalex.org/W1980701644","https://openalex.org/W1997430343","https://openalex.org/W2001601792","https://openalex.org/W2026742600","https://openalex.org/W2028029458","https://openalex.org/W2038662471","https://openalex.org/W2079465904","https://openalex.org/W2091197916","https://openalex.org/W2109483642","https://openalex.org/W2110684256","https://openalex.org/W2115091574","https://openalex.org/W2117571644","https://openalex.org/W2119224729","https://openalex.org/W2122761880","https://openalex.org/W2126681892","https://openalex.org/W2142981033","https://openalex.org/W2146201778","https://openalex.org/W2152421929","https://openalex.org/W2155612543","https://openalex.org/W2160514056","https://openalex.org/W2162136128","https://openalex.org/W2171151351","https://openalex.org/W2798500587","https://openalex.org/W4236400251","https://openalex.org/W4296154082"],"related_works":["https://openalex.org/W2359328895","https://openalex.org/W2363535981","https://openalex.org/W2007402811","https://openalex.org/W2326762630","https://openalex.org/W2391354408","https://openalex.org/W1986103452","https://openalex.org/W2166562438","https://openalex.org/W2388558702","https://openalex.org/W2349570115","https://openalex.org/W2347535056"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,38],"trajectory":[4,41,97],"planning":[5],"algorithm":[6,32,100],"for":[7,79,93,106],"linear":[8],"multi-axis":[9],"systems.":[10],"It":[11],"generates":[12],"smooth":[13],"trajectories":[14,47,54,89,110],"of":[15,111],"any":[16],"order":[17,40,44,88],"subject":[18],"to":[19,55,69,85],"general":[20,71],"initial":[21,72],"and":[22,25,28,67,73,108],"final":[23,74],"conditions,":[24],"constant":[26],"state":[27],"control":[29],"constraints.":[30],"The":[31,64,99],"is":[33,101],"recursive,":[34],"as":[35],"it":[36,77,91],"constructs":[37],"high":[39,87,96],"using":[42],"lower":[43],"trajectories.":[45],"Multi-axis":[46],"are":[48],"computed":[49],"by":[50],"synchronizing":[51],"independent":[52],"single-axis":[53],"reach":[56],"their":[57],"respective":[58],"targets":[59],"at":[60],"the":[61],"same":[62],"time.":[63],"algorithm\u2019s":[65],"efficiency":[66],"ability":[68,84],"handle":[70],"conditions":[75],"make":[76],"suitable":[78,92],"reactive":[80],"real-time":[81],"applications.":[82],"Its":[83],"generate":[86],"makes":[90],"applications":[94],"requiring":[95],"smoothness.":[98],"demonstrated":[102],"in":[103],"several":[104],"examples":[105],"single-":[107],"dual-axis":[109],"orders":[112],"2\u20136.":[113]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}