{"id":"https://openalex.org/W3046566111","doi":"https://doi.org/10.23919/ecc51009.2020.9143797","title":"Introducing Multi-Convexity in Path Constrained Trajectory Optimization for Mobile Manipulators","display_name":"Introducing Multi-Convexity in Path Constrained Trajectory Optimization for Mobile Manipulators","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3046566111","doi":"https://doi.org/10.23919/ecc51009.2020.9143797","mag":"3046566111"},"language":"en","primary_location":{"id":"doi:10.23919/ecc51009.2020.9143797","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc51009.2020.9143797","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 European Control Conference (ECC)","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/A5083895630","display_name":"Arun Kumar Singh","orcid":"https://orcid.org/0000-0003-1704-7932"},"institutions":[{"id":"https://openalex.org/I56085075","display_name":"University of Tartu","ror":"https://ror.org/03z77qz90","country_code":"EE","type":"education","lineage":["https://openalex.org/I56085075"]}],"countries":["EE"],"is_corresponding":true,"raw_author_name":"Arun Kumar Singh","raw_affiliation_strings":["TUIT, University of Tartu"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TUIT, University of Tartu","institution_ids":["https://openalex.org/I56085075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018866785","display_name":"Andrei Ahonen","orcid":"https://orcid.org/0000-0002-6579-832X"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Andrei Ahonen","raw_affiliation_strings":["Tampere University, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tampere University, Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083665381","display_name":"Reza Ghabcheloo","orcid":"https://orcid.org/0000-0002-6043-4236"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Reza Ghabcheloo","raw_affiliation_strings":["Tampere University, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tampere University, Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112392532","display_name":"Andreas M\u00fcller","orcid":"https://orcid.org/0000-0001-5033-340X"},"institutions":[{"id":"https://openalex.org/I121883995","display_name":"Johannes Kepler University of Linz","ror":"https://ror.org/052r2xn60","country_code":"AT","type":"education","lineage":["https://openalex.org/I121883995"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Andreas Mueller","raw_affiliation_strings":["Johannes Kepler University, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johannes Kepler University, Austria","institution_ids":["https://openalex.org/I121883995"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5083895630"],"corresponding_institution_ids":["https://openalex.org/I56085075"],"apc_list":null,"apc_paid":null,"fwci":0.4903,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.65987116,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1178","last_page":"1185"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9957000017166138,"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":0.9957000017166138,"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":0.9919000267982483,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9197999835014343,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/computer-science","display_name":"Computer science","score":0.5534638166427612},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5487894415855408},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5156725645065308},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.46215182542800903},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4582066535949707},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4536459147930145},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4455552101135254},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.4427242577075958},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4125165343284607},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3256627321243286},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2610914707183838},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1304784119129181},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11078378558158875}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5534638166427612},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5487894415855408},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5156725645065308},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.46215182542800903},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4582066535949707},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4536459147930145},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4455552101135254},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.4427242577075958},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4125165343284607},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3256627321243286},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2610914707183838},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1304784119129181},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11078378558158875},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc51009.2020.9143797","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc51009.2020.9143797","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 European Control Conference (ECC)","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":0,"referenced_works":[],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W4385607490","https://openalex.org/W2412971645","https://openalex.org/W3137303152","https://openalex.org/W2124302230","https://openalex.org/W2583679332"],"abstract_inverted_index":{"Mobile":[0],"manipulators":[1],"have":[2,106],"a":[3,26,38,62,83,107,126,136,184,188],"highly":[4],"non-linear":[5,40,91],"and":[6,13,17,19,99,182,202],"non-convex":[7,127,141],"mapping":[8],"between":[9],"the":[10,14,22,35,48,90,103,111,115,122,130,149,158,179],"end-effector":[11,31],"path":[12,32],"manipulator's":[15],"joints":[16],"position":[18],"orientation":[20],"of":[21,37,64,85,96,117,121,148,160,191,200],"mobile":[23,104,123,203],"base.":[24],"As":[25],"result,":[27],"trajectory":[28,167],"optimization":[29,41,55,168],"with":[30,102],"constraints":[33,92],"takes":[34],"form":[36],"difficult":[39,54],"problem.":[42],"In":[43],"this":[44,53,140],"paper,":[45],"we":[46,81,174],"present":[47],"first":[49],"multi-convex":[50],"approximation":[51],"to":[52,60,114],"problem":[56,181],"that":[57,93],"eventually":[58],"reduces":[59],"solving":[61],"sequence":[63],"globally":[65],"valid":[66],"convex":[67,137],"quadratic":[68],"programs":[69],"(QPs).":[70],"The":[71],"proposed":[72,150],"optimizer":[73,151],"rests":[74],"on":[75,169],"two":[76],"novel":[77],"building":[78,132],"blocks.":[79],"First,":[80],"introduce":[82],"set":[84,190],"auxiliary":[86,112],"variables":[87,113,120],"in":[88,155],"which":[89],"arise":[94],"out":[95],"manipulator":[97,124,201],"kinematics":[98],"its":[100],"coupling":[101],"base":[105,204],"multi-affine":[108],"form.":[109],"Projecting":[110],"space":[116],"actual":[118],"configuration":[119],"involves":[125,134],"optimization.":[128],"Thus,":[129],"second":[131],"block":[133],"computing":[135],"surrogate":[138],"for":[139],"projection.":[142],"We":[143,164],"show":[144],"how":[145,176],"large":[146],"parts":[147],"can":[152,193],"be":[153,194],"solved":[154],"parallel":[156],"providing":[157],"possibility":[159],"exploiting":[161],"multi-core":[162],"CPUs.":[163],"validate":[165],"our":[166],"different":[170,198],"benchmark":[171],"examples.":[172],"Specifically,":[173],"highlight":[175],"it":[177],"solves":[178],"cyclicity":[180],"provides":[183],"holistic":[185],"approach":[186],"where":[187],"diverse":[189],"trajectories":[192],"obtained":[195],"by":[196],"trading-off":[197],"aspects":[199],"motion.":[205]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}