{"id":"https://openalex.org/W3127856408","doi":"https://doi.org/10.23919/acc50511.2021.9483265","title":"Optimal Trajectory Planning and Model Predictive Control of Underactuated Marine Surface Vessels using a Flatness-Based Approach","display_name":"Optimal Trajectory Planning and Model Predictive Control of Underactuated Marine Surface Vessels using a Flatness-Based Approach","publication_year":2021,"publication_date":"2021-05-25","ids":{"openalex":"https://openalex.org/W3127856408","doi":"https://doi.org/10.23919/acc50511.2021.9483265","mag":"3127856408"},"language":"en","primary_location":{"id":"doi:10.23919/acc50511.2021.9483265","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9483265","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2101.12730.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031012527","display_name":"Max Lutz","orcid":"https://orcid.org/0009-0001-1956-3757"},"institutions":[{"id":"https://openalex.org/I32021983","display_name":"Kiel University","ror":"https://ror.org/04v76ef78","country_code":"DE","type":"education","lineage":["https://openalex.org/I32021983"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Max Lutz","raw_affiliation_strings":["Faculty of Engineering, Chair of Automatic Control, Kiel University, Kiel, Germany","Chair of Automatic Control, Kiel University,Faculty of Engineering,Kiel,Germany,24143"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Chair of Automatic Control, Kiel University, Kiel, Germany","institution_ids":["https://openalex.org/I32021983"]},{"raw_affiliation_string":"Chair of Automatic Control, Kiel University,Faculty of Engineering,Kiel,Germany,24143","institution_ids":["https://openalex.org/I32021983"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002069913","display_name":"Thomas Meurer","orcid":"https://orcid.org/0000-0002-9175-2157"},"institutions":[{"id":"https://openalex.org/I32021983","display_name":"Kiel University","ror":"https://ror.org/04v76ef78","country_code":"DE","type":"education","lineage":["https://openalex.org/I32021983"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Meurer","raw_affiliation_strings":["Faculty of Engineering, Chair of Automatic Control, Kiel University, Kiel, Germany","Chair of Automatic Control, Kiel University,Faculty of Engineering,Kiel,Germany,24143"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Chair of Automatic Control, Kiel University, Kiel, Germany","institution_ids":["https://openalex.org/I32021983"]},{"raw_affiliation_string":"Chair of Automatic Control, Kiel University,Faculty of Engineering,Kiel,Germany,24143","institution_ids":["https://openalex.org/I32021983"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5031012527"],"corresponding_institution_ids":["https://openalex.org/I32021983"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.01392636,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4667","last_page":"4673"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9965999722480774,"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/T12158","display_name":"Guidance and Control Systems","score":0.9955000281333923,"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/underactuation","display_name":"Underactuation","score":0.8907120227813721},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.7957066297531128},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7739975452423096},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5933142900466919},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5379524827003479},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.49416354298591614},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48446226119995117},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.4603220820426941},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4600951075553894},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.39652496576309204},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.32751768827438354},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27919894456863403},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1580149233341217},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08718249201774597}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8907120227813721},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.7957066297531128},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7739975452423096},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5933142900466919},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5379524827003479},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.49416354298591614},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48446226119995117},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.4603220820426941},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4600951075553894},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39652496576309204},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.32751768827438354},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27919894456863403},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1580149233341217},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08718249201774597},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.23919/acc50511.2021.9483265","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9483265","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"mag:3127856408","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2101.12730.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2101.12730","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2101.12730","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"mag:3127856408","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2101.12730.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1603121482","https://openalex.org/W1969483458","https://openalex.org/W1970101292","https://openalex.org/W1988484739","https://openalex.org/W2010956689","https://openalex.org/W2014626634","https://openalex.org/W2018614743","https://openalex.org/W2030794369","https://openalex.org/W2062433045","https://openalex.org/W2064942388","https://openalex.org/W2065297540","https://openalex.org/W2103398491","https://openalex.org/W2108674204","https://openalex.org/W2118081656","https://openalex.org/W2123998235","https://openalex.org/W2124659043","https://openalex.org/W2154396405","https://openalex.org/W2344719069","https://openalex.org/W2565031521","https://openalex.org/W2618796717","https://openalex.org/W2886822351","https://openalex.org/W2896441520","https://openalex.org/W3152787885","https://openalex.org/W6792286511"],"related_works":["https://openalex.org/W3185626836","https://openalex.org/W3138928445","https://openalex.org/W2051522541","https://openalex.org/W2972662167","https://openalex.org/W2013336954","https://openalex.org/W3208089788","https://openalex.org/W2221752174","https://openalex.org/W2884545005","https://openalex.org/W2151321622","https://openalex.org/W3000119253","https://openalex.org/W2286582234","https://openalex.org/W2973068080","https://openalex.org/W3091686100","https://openalex.org/W2965732094","https://openalex.org/W2581118410","https://openalex.org/W2577645868","https://openalex.org/W2333842241","https://openalex.org/W3186528947","https://openalex.org/W49562827","https://openalex.org/W2102107146"],"abstract_inverted_index":{"This":[0,194],"paper":[1],"demonstrates":[2],"a":[3,23,37,100,144,153],"refined":[4],"approach":[5],"to":[6,31,48,50,74,95,128,152,173,180],"solving":[7],"dynamic":[8,87,106,209],"optimization":[9,79],"problems":[10],"for":[11,67,99,143],"underactuated":[12,52,110],"marine":[13],"surface":[14,111],"vessels.":[15],"To":[16],"this":[17],"end":[18],"the":[19,51,58,61,68,78,82,134,164,167,204],"differential":[20],"flatness":[21,168],"of":[22,36,60,70,84,104,108,136,166,206],"mathematical":[24],"model":[25,107,158],"assuming":[26],"full":[27],"actuation":[28],"is":[29,46,55,113,161,195],"exploited":[30],"derive":[32],"an":[33,71,90,109,150],"efficient":[34],"representation":[35],"finite":[38],"dimensional":[39],"nonlinear":[40,101],"programming":[41],"problem,":[42],"which":[43],"in":[44,77,81,118,133,198,203],"turn":[45],"constrained":[47],"apply":[49],"case.":[53],"It":[54],"illustrated":[56],"how":[57],"properties":[59],"flat":[62],"output":[63],"can":[64],"be":[65,75],"employed":[66],"generation":[69],"initial":[72],"guess":[73],"used":[76],"algorithm":[80],"presence":[83],"static":[85],"and":[86,120,130,140,190,211],"obstacles.":[88],"As":[89],"example":[91],"energy":[92],"optimal":[93],"point":[94,96],"trajectory":[97,154],"planning":[98],"3":[102],"degrees":[103],"freedom":[105],"vessel":[112],"undertaken.":[114],"Input":[115],"constraints,":[116],"both":[117],"rate":[119],"magnitude":[121],"as":[122,124],"well":[123],"state":[125],"constraints":[126],"due":[127],"convex":[129],"non-convex":[131],"obstacles":[132,210],"area":[135],"operation":[137],"are":[138,147,214],"considered":[139],"simulation":[141,199],"results":[142],"challenging":[145],"scenario":[146],"reported.":[148],"Furthermore,":[149],"extension":[151],"tracking":[155],"controller":[156],"using":[157],"predictive":[159],"control":[160],"made":[162],"where":[163,200],"benefits":[165],"based":[169],"direct":[170],"method":[171],"allow":[172],"introduce":[174],"nonuniform":[175],"sample":[176],"times":[177],"that":[178],"help":[179],"realize":[181],"long":[182],"prediction":[183],"horizons":[184],"while":[185],"maintaining":[186],"short":[187],"term":[188],"accuracy":[189],"real":[191],"time":[192],"capability.":[193],"also":[196],"verified":[197],"additional":[201],"disturbances":[202],"form":[205],"environmental":[207],"disturbances,":[208],"parameter":[212],"mismatch":[213],"introduced.":[215]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
