{"id":"https://openalex.org/W3128452364","doi":"https://doi.org/10.3390/robotics10010025","title":"On Fast Jerk\u2013, Acceleration\u2013 and Velocity\u2013Restricted Motion Functions for Online Trajectory Generation","display_name":"On Fast Jerk\u2013, Acceleration\u2013 and Velocity\u2013Restricted Motion Functions for Online Trajectory Generation","publication_year":2021,"publication_date":"2021-02-01","ids":{"openalex":"https://openalex.org/W3128452364","doi":"https://doi.org/10.3390/robotics10010025","mag":"3128452364"},"language":"en","primary_location":{"id":"doi:10.3390/robotics10010025","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010025","pdf_url":"https://www.mdpi.com/2218-6581/10/1/25/pdf?version=1612879018","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/10/1/25/pdf?version=1612879018","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012171545","display_name":"Burkhard Alpers","orcid":"https://orcid.org/0000-0002-4573-9357"},"institutions":[{"id":"https://openalex.org/I4210136950","display_name":"Hochschule Aalen","ror":"https://ror.org/04gg60e72","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210136950"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Burkhard Alpers","raw_affiliation_strings":["Department of Mechanical Engineering, Aalen University, D-73430 Aalen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-4573-9357","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Aalen University, D-73430 Aalen, Germany","institution_ids":["https://openalex.org/I4210136950"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5012171545"],"corresponding_institution_ids":["https://openalex.org/I4210136950"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":2.8156,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.92101989,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"10","issue":"1","first_page":"25","last_page":"25"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9968000054359436,"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":0.9968000054359436,"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/T10533","display_name":"Teaching and Learning Programming","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"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":0.9916999936103821,"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/jerk","display_name":"Jerk","score":0.9678890705108643},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.8591396808624268},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8196625709533691},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6494646072387695},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5786397457122803},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5315693616867065},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.49347150325775146},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48613616824150085},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.4585849940776825},{"id":"https://openalex.org/keywords/online-algorithm","display_name":"Online algorithm","score":0.456061989068985},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.434329628944397},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4189550578594208},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.41719239950180054},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3547578454017639},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30256152153015137},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15843993425369263},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08965158462524414},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08878916501998901},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07828748226165771}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.9678890705108643},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.8591396808624268},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8196625709533691},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6494646072387695},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5786397457122803},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5315693616867065},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.49347150325775146},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48613616824150085},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.4585849940776825},{"id":"https://openalex.org/C196921405","wikidata":"https://www.wikidata.org/wiki/Q786431","display_name":"Online algorithm","level":2,"score":0.456061989068985},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.434329628944397},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4189550578594208},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.41719239950180054},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3547578454017639},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30256152153015137},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15843993425369263},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08965158462524414},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08878916501998901},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07828748226165771},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"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/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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics10010025","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010025","pdf_url":"https://www.mdpi.com/2218-6581/10/1/25/pdf?version=1612879018","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:3c863b246a4c4f47ae4a97f1380068d5","is_oa":true,"landing_page_url":"https://doaj.org/article/3c863b246a4c4f47ae4a97f1380068d5","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 10, Iss 1, p 25 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/10/1/25/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics10010025","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 10; Issue 1; Pages: 25","raw_type":"Text"},{"id":"pmh:oai:opus-htw-aalen.bsz-bw.de:2153","is_oa":false,"landing_page_url":"https://opus-htw-aalen.bsz-bw.de/frontdoor/index/index/docId/2153","pdf_url":null,"source":{"id":"https://openalex.org/S4306401044","display_name":"OPUS (Aalen University)","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"doc-type:article"}],"best_oa_location":{"id":"doi:10.3390/robotics10010025","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010025","pdf_url":"https://www.mdpi.com/2218-6581/10/1/25/pdf?version=1612879018","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3128452364.pdf","grobid_xml":"https://content.openalex.org/works/W3128452364.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W135568524","https://openalex.org/W2038662471","https://openalex.org/W2076048129","https://openalex.org/W2092711598","https://openalex.org/W2117571644","https://openalex.org/W2119224729","https://openalex.org/W2122761880","https://openalex.org/W2171151351","https://openalex.org/W2204874477","https://openalex.org/W2225813005","https://openalex.org/W2494506251","https://openalex.org/W2793826897","https://openalex.org/W2805685264","https://openalex.org/W2888935559","https://openalex.org/W2895857504","https://openalex.org/W2902041520","https://openalex.org/W2923302867","https://openalex.org/W2944268343","https://openalex.org/W2988143910","https://openalex.org/W3026480211"],"related_works":["https://openalex.org/W2497204748","https://openalex.org/W2376623953","https://openalex.org/W2118664347","https://openalex.org/W2352897580","https://openalex.org/W3049304016","https://openalex.org/W2348411017","https://openalex.org/W2019544916","https://openalex.org/W4232942130","https://openalex.org/W2568861134","https://openalex.org/W2154495601"],"abstract_inverted_index":{"Finding":[0],"fast":[1],"motion":[2,53],"functions":[3],"to":[4,13,26,37,49,94,99],"get":[5],"from":[6,156],"an":[7,69,150],"initial":[8,78],"state":[9],"(distance,":[10],"velocity,":[11],"acceleration)":[12],"a":[14,24,52,100,157],"final":[15,80],"one":[16],"has":[17],"been":[18],"of":[19,113,137,144,160],"interest":[20],"for":[21,125,174],"decades.":[22],"For":[23],"solution":[25],"be":[27,38],"practically":[28],"relevant,":[29],"restrictions":[30],"on":[31],"jerk,":[32],"acceleration":[33],"and":[34,67,79,84,154,165],"velocity":[35],"have":[36],"taken":[39],"into":[40],"account.":[41],"Such":[42],"solutions":[43],"use":[44],"optimization":[45],"algorithms":[46],"or":[47,121],"try":[48],"directly":[50],"construct":[51],"function":[54],"allowing":[55],"online":[56,175],"trajectory":[57,176],"generation.":[58,177],"In":[59],"this":[60,95],"contribution,":[61],"we":[62],"follow":[63],"the":[64,75,87,119,135,142,145,170],"latter":[65],"strategy":[66],"present":[68,130],"approach":[70],"which":[71,116],"first":[72],"deals":[73],"with":[74,102],"situation":[76],"where":[77],"accelerations":[81],"are":[82],"0,":[83],"then":[85],"relates":[86],"general":[88],"case":[89,120],"as":[90,92],"much":[91],"possible":[93],"situation.":[96],"This":[97],"leads":[98],"classification":[101],"just":[103],"four":[104],"major":[105],"cases.":[106],"A":[107],"continuity":[108],"argument":[109],"guarantees":[110],"full":[111],"coverage":[112],"all":[114],"situations":[115,139],"is":[117,122,172],"not":[118,123],"clear":[124],"other":[126],"available":[127],"algorithms.":[128],"We":[129,147],"several":[131],"examples":[132],"that":[133,169],"show":[134],"variety":[136],"different":[138],"and,":[140],"thus,":[141],"complexity":[143],"task.":[146],"also":[148],"describe":[149],"implementation":[151],"in":[152],"MATLAB\u00ae":[153],"results":[155],"huge":[158],"number":[159],"test":[161],"runs":[162],"regarding":[163],"accuracy":[164],"efficiency,":[166],"thus":[167],"demonstrating":[168],"algorithm":[171],"suitable":[173]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":25}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
