{"id":"https://openalex.org/W4289927921","doi":"https://doi.org/10.23919/ecc55457.2022.9838123","title":"Kinodynamic planning for robotic manipulators using set-based methods","display_name":"Kinodynamic planning for robotic manipulators using set-based methods","publication_year":2022,"publication_date":"2022-07-12","ids":{"openalex":"https://openalex.org/W4289927921","doi":"https://doi.org/10.23919/ecc55457.2022.9838123"},"language":"en","primary_location":{"id":"doi:10.23919/ecc55457.2022.9838123","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc55457.2022.9838123","pdf_url":null,"source":{"id":"https://openalex.org/S4363607908","display_name":"2022 European Control Conference (ECC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pureadmin.qub.ac.uk/ws/files/304697853/ECC22_0438_FI.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5106404728","display_name":"Ryan McGovern","orcid":"https://orcid.org/0000-0001-9229-7304"},"institutions":[{"id":"https://openalex.org/I126231945","display_name":"Queen's University Belfast","ror":"https://ror.org/00hswnk62","country_code":"GB","type":"education","lineage":["https://openalex.org/I126231945"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ryan McGovern","raw_affiliation_strings":["School of Electronics, Electrical Engineering and Computer Science, Queen&#x0027;s University,Belfast,Northern Ireland, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics, Electrical Engineering and Computer Science, Queen&#x0027;s University,Belfast,Northern Ireland, UK","institution_ids":["https://openalex.org/I126231945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101980175","display_name":"\u039d\u03b9\u03ba\u03cc\u03bb\u03b1\u03bf\u03c2 \u0391\u03b8\u03b1\u03bd\u03b1\u03c3\u03cc\u03c0\u03bf\u03c5\u03bb\u03bf\u03c2","orcid":"https://orcid.org/0000-0002-0845-6163"},"institutions":[{"id":"https://openalex.org/I126231945","display_name":"Queen's University Belfast","ror":"https://ror.org/00hswnk62","country_code":"GB","type":"education","lineage":["https://openalex.org/I126231945"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nikolaos Athanasopoulos","raw_affiliation_strings":["School of Electronics, Electrical Engineering and Computer Science, Queen&#x0027;s University,Belfast,Northern Ireland, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics, Electrical Engineering and Computer Science, Queen&#x0027;s University,Belfast,Northern Ireland, UK","institution_ids":["https://openalex.org/I126231945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I126231945"],"apc_list":null,"apc_paid":null,"fwci":0.1848,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.50017311,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1309","last_page":"1314"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10142","display_name":"Formal Methods in Verification","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.996399998664856,"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/double-integrator","display_name":"Double integrator","score":0.6897484064102173},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6534196138381958},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6131119132041931},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5988073945045471},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5685704350471497},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5428656339645386},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5320979356765747},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.528533399105072},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5255115032196045},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5199976563453674},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5064660310745239},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.49268847703933716},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44901204109191895},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.42472490668296814},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2839812636375427},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18967804312705994},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18781006336212158},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16389289498329163}],"concepts":[{"id":"https://openalex.org/C2779323837","wikidata":"https://www.wikidata.org/wiki/Q5300045","display_name":"Double integrator","level":3,"score":0.6897484064102173},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6534196138381958},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6131119132041931},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5988073945045471},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5685704350471497},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5428656339645386},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5320979356765747},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.528533399105072},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5255115032196045},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5199976563453674},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5064660310745239},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.49268847703933716},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44901204109191895},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.42472490668296814},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2839812636375427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18967804312705994},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18781006336212158},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16389289498329163},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.23919/ecc55457.2022.9838123","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc55457.2022.9838123","pdf_url":null,"source":{"id":"https://openalex.org/S4363607908","display_name":"2022 European Control Conference (ECC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.qub.ac.uk/portal:publications/86552a8e-5d3d-49fc-8ee1-4ae0ede52d6b","is_oa":true,"landing_page_url":"https://pure.qub.ac.uk/en/publications/86552a8e-5d3d-49fc-8ee1-4ae0ede52d6b","pdf_url":"https://pureadmin.qub.ac.uk/ws/files/304697853/ECC22_0438_FI.pdf","source":{"id":"https://openalex.org/S4306402319","display_name":"Research Portal (Queen's University Belfast)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I126231945","host_organization_name":"Queen's University Belfast","host_organization_lineage":["https://openalex.org/I126231945"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"McGovern, R & Athanasopoulos, N 2022, Kinodynamic planning for robotic manipulators utilising set-based methods. in 2022 European Control Conference (ECC): proceedings. Institute of Electrical and Electronics Engineers Inc. https://doi.org/10.23919/ECC55457.2022.9838123","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:zenodo.org:7228362","is_oa":true,"landing_page_url":"https://doi.org/10.23919/ECC55457.2022.9838123","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:pure.qub.ac.uk/portal:publications/86552a8e-5d3d-49fc-8ee1-4ae0ede52d6b","is_oa":true,"landing_page_url":"https://pure.qub.ac.uk/en/publications/86552a8e-5d3d-49fc-8ee1-4ae0ede52d6b","pdf_url":"https://pureadmin.qub.ac.uk/ws/files/304697853/ECC22_0438_FI.pdf","source":{"id":"https://openalex.org/S4306402319","display_name":"Research Portal (Queen's University Belfast)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I126231945","host_organization_name":"Queen's University Belfast","host_organization_lineage":["https://openalex.org/I126231945"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"McGovern, R & Athanasopoulos, N 2022, Kinodynamic planning for robotic manipulators utilising set-based methods. in 2022 European Control Conference (ECC): proceedings. Institute of Electrical and Electronics Engineers Inc. https://doi.org/10.23919/ECC55457.2022.9838123","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G1604577016","display_name":"Edge Computing Resource Allocation for Dynamic Networks","funder_award_id":"ANR-19-CHR3-0001","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4289927921.pdf","grobid_xml":"https://content.openalex.org/works/W4289927921.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1509235676","https://openalex.org/W1521738998","https://openalex.org/W1970412155","https://openalex.org/W1975236902","https://openalex.org/W1995162721","https://openalex.org/W2026733661","https://openalex.org/W2044372633","https://openalex.org/W2056513921","https://openalex.org/W2084772009","https://openalex.org/W2105005342","https://openalex.org/W2115091574","https://openalex.org/W2115927900","https://openalex.org/W2155612543","https://openalex.org/W2166691751","https://openalex.org/W2214385277","https://openalex.org/W2571030810","https://openalex.org/W2735996816","https://openalex.org/W2789905221","https://openalex.org/W2801816216","https://openalex.org/W2885959526","https://openalex.org/W2888858425","https://openalex.org/W2890270794","https://openalex.org/W2899451579","https://openalex.org/W2907444959","https://openalex.org/W2963733582","https://openalex.org/W2964057747","https://openalex.org/W2964058170","https://openalex.org/W3002931353","https://openalex.org/W3045503639","https://openalex.org/W3170865664","https://openalex.org/W4231039456","https://openalex.org/W4399469378","https://openalex.org/W6676216701","https://openalex.org/W6754615198","https://openalex.org/W6758193051"],"related_works":["https://openalex.org/W2080488015","https://openalex.org/W4402569967","https://openalex.org/W2347533678","https://openalex.org/W4248598780","https://openalex.org/W4244659545","https://openalex.org/W2507282821","https://openalex.org/W2116395142","https://openalex.org/W2369204337","https://openalex.org/W2883723259","https://openalex.org/W2385325569"],"abstract_inverted_index":{"We":[0,75],"revisit":[1],"the":[2,16,40,48,77,90,112],"trajectory":[3],"planning":[4],"problem":[5,78,85],"for":[6],"general":[7],"N-link":[8],"robotic":[9],"manipulators.":[10],"Our":[11,101],"approach":[12,76],"focuses":[13],"on":[14,51],"characterising":[15],"whole":[17],"set":[18,28,83],"of":[19,29,47,89,111],"states":[20],"that":[21],"can":[22],"be":[23],"transferred":[24],"to":[25],"a":[26,52,60,68,80,94,108],"target":[27],"velocities":[30],"without":[31],"violating":[32],"constraints.":[33],"To":[34],"achieve":[35],"this,":[36],"we":[37],"work":[38],"in":[39,105],"commonly":[41],"utilized":[42],"two":[43],"dimensional":[44],"projected":[45],"space":[46],"Lagrangian":[49],"dynamics":[50,58],"specific":[53],"predefined":[54],"path.":[55],"The":[56],"produced":[57],"is":[59],"double":[61],"integrator,":[62],"with":[63],"nonlinearities":[64],"being":[65],"pushed":[66],"into":[67],"non-convex":[69],"and":[70],"state-dependent":[71],"input":[72],"constraint":[73],"set.":[74],"as":[79],"special":[81],"reach-avoid":[82],"computation":[84],"using":[86,107],"ordering":[87],"properties":[88],"trajectories":[91],"generated":[92],"by":[93],"suitably":[95],"parame-terised":[96],"state":[97],"feedback":[98],"control":[99],"law.":[100],"results":[102],"are":[103],"illustrated":[104],"simulation":[106],"realistic":[109],"model":[110],"UR5\u2122":[113],"commercial":[114],"robot.":[115]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}
