{"id":"https://openalex.org/W2099894755","doi":"https://doi.org/10.1177/027836499801700908","title":"Real-Time Collision- Free Trajectory Optimization of Robot Manipulators via Semi-Infinite Parameter Optimization","display_name":"Real-Time Collision- Free Trajectory Optimization of Robot Manipulators via Semi-Infinite Parameter Optimization","publication_year":1998,"publication_date":"1998-09-01","ids":{"openalex":"https://openalex.org/W2099894755","doi":"https://doi.org/10.1177/027836499801700908","mag":"2099894755"},"language":"en","primary_location":{"id":"doi:10.1177/027836499801700908","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499801700908","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/A5109848598","display_name":"M. Schlemmer","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"M. Schlemmer","raw_affiliation_strings":["DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling 82234, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling 82234, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032468822","display_name":"G. Gruebel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"G. Gruebel","raw_affiliation_strings":["DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling 82234, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling 82234, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5109848598"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6678,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.83466469,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"17","issue":"9","first_page":"1013","last_page":"1021"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9991000294685364,"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":0.9943000078201294,"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/optimization-problem","display_name":"Optimization problem","score":0.6277354955673218},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6004146337509155},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.594205915927887},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5468738079071045},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5446684956550598},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4699440598487854},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4694511294364929},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4384470582008362},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.41949746012687683},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4181167483329773},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4134977459907532},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37635719776153564},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17240479588508606},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11000952124595642}],"concepts":[{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.6277354955673218},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6004146337509155},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.594205915927887},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5468738079071045},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5446684956550598},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4699440598487854},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4694511294364929},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4384470582008362},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.41949746012687683},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4181167483329773},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4134977459907532},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37635719776153564},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17240479588508606},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11000952124595642},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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":2,"locations":[{"id":"doi:10.1177/027836499801700908","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499801700908","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"},{"id":"pmh:oai:elib.dlr.de:28640","is_oa":false,"landing_page_url":"https://elib.dlr.de/28640/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Berichtsreihe"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W152243833","https://openalex.org/W631398088","https://openalex.org/W1496777766","https://openalex.org/W1528234719","https://openalex.org/W1580929723","https://openalex.org/W1972394793","https://openalex.org/W2004274486","https://openalex.org/W2030109435","https://openalex.org/W2039796103","https://openalex.org/W2049410986","https://openalex.org/W2061781081","https://openalex.org/W2096239422","https://openalex.org/W2103120971","https://openalex.org/W2115091574","https://openalex.org/W2151521059","https://openalex.org/W2159294788","https://openalex.org/W2162870748","https://openalex.org/W2798500587","https://openalex.org/W3012317737","https://openalex.org/W3173138228","https://openalex.org/W4236400251","https://openalex.org/W4242811155","https://openalex.org/W4254127517","https://openalex.org/W4301649152"],"related_works":["https://openalex.org/W4206704743","https://openalex.org/W2054817525","https://openalex.org/W4313119266","https://openalex.org/W2164807043","https://openalex.org/W4231448069","https://openalex.org/W2019128690","https://openalex.org/W2128461291","https://openalex.org/W2355907103","https://openalex.org/W1495847109","https://openalex.org/W2270789747"],"abstract_inverted_index":{"Real-time":[0],"collision-free":[1],"trajectory":[2],"control":[3,16],"is":[4,68],"dealt":[5],"with":[6],"by":[7,44],"semi-":[8],"infinite":[9],"optimization":[10,34,66,78],"techniques.":[11],"This":[12,36],"allows":[13],"an":[14,71],"optimal":[15],"problem":[17,38],"incorporating":[18],"a":[19,31,58,62,76],"robotlobstacle":[20],"distance":[21],"function":[22],"for":[23],"col":[24],"lision":[25],"detection":[26],"to":[27,30],"be":[28,40],"reduced":[29,37],"finite-dimensional":[32],"parameter-":[33],"problem.":[35],"can":[39],"solved":[41,69],"effi":[42],"ciently":[43],"the":[45,55],"numerical":[46],"parameter-optimization":[47],"method":[48],"of":[49,57,64],"sequen":[50],"tial":[51],"quadratic":[52],"programming.":[53],"In":[54],"case":[56],"time-varying":[59],"robot":[60],"environment,":[61],"series":[63],"such":[65],"problems":[67],"in":[70],"iterative":[72],"time":[73],"frame,":[74],"constituting":[75],"real-time":[77],"loop.":[79]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-03T06:03:33.228499","created_date":"2025-10-10T00:00:00"}
