{"id":"https://openalex.org/W4283755342","doi":"https://doi.org/10.3390/robotics11040070","title":"Online Computation of Time-Optimization-Based, Smooth and Path-Consistent Stop Trajectories for Robots","display_name":"Online Computation of Time-Optimization-Based, Smooth and Path-Consistent Stop Trajectories for Robots","publication_year":2022,"publication_date":"2022-07-01","ids":{"openalex":"https://openalex.org/W4283755342","doi":"https://doi.org/10.3390/robotics11040070"},"language":"en","primary_location":{"id":"doi:10.3390/robotics11040070","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11040070","pdf_url":"https://www.mdpi.com/2218-6581/11/4/70/pdf?version=1656650589","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/2218-6581/11/4/70/pdf?version=1656650589","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012595152","display_name":"Rafael A. Rojas","orcid":"https://orcid.org/0000-0002-3668-7719"},"institutions":[{"id":"https://openalex.org/I171543936","display_name":"Free University of Bozen-Bolzano","ror":"https://ror.org/012ajp527","country_code":"IT","type":"education","lineage":["https://openalex.org/I171543936"]},{"id":"https://openalex.org/I4210104565","display_name":"Fraunhofer Italia Research","ror":"https://ror.org/015hz7767","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210104565","https://openalex.org/I4923324"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Rafael A. Rojas","raw_affiliation_strings":["Faculty of Science and Technology, Free University of Bozen/Bolzano, Piazza Universita 1, 39100 Bolzano, Italy","Fraunhofer Italia Research, Via A.-Volta 13A, 39100 Bolzano, Italy"],"raw_orcid":"https://orcid.org/0000-0002-3668-7719","affiliations":[{"raw_affiliation_string":"Faculty of Science and Technology, Free University of Bozen/Bolzano, Piazza Universita 1, 39100 Bolzano, Italy","institution_ids":["https://openalex.org/I171543936"]},{"raw_affiliation_string":"Fraunhofer Italia Research, Via A.-Volta 13A, 39100 Bolzano, Italy","institution_ids":["https://openalex.org/I4210104565"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062662374","display_name":"Andrea Giusti","orcid":"https://orcid.org/0000-0003-1275-8161"},"institutions":[{"id":"https://openalex.org/I4210104565","display_name":"Fraunhofer Italia Research","ror":"https://ror.org/015hz7767","country_code":"IT","type":"nonprofit","lineage":["https://openalex.org/I4210104565","https://openalex.org/I4923324"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Giusti","raw_affiliation_strings":["Fraunhofer Italia Research, Via A.-Volta 13A, 39100 Bolzano, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1275-8161","affiliations":[{"raw_affiliation_string":"Fraunhofer Italia Research, Via A.-Volta 13A, 39100 Bolzano, Italy","institution_ids":["https://openalex.org/I4210104565"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055755579","display_name":"Renato Vidoni","orcid":"https://orcid.org/0000-0002-7429-0974"},"institutions":[{"id":"https://openalex.org/I171543936","display_name":"Free University of Bozen-Bolzano","ror":"https://ror.org/012ajp527","country_code":"IT","type":"education","lineage":["https://openalex.org/I171543936"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Renato Vidoni","raw_affiliation_strings":["Faculty of Science and Technology, Free University of Bozen/Bolzano, Piazza Universita 1, 39100 Bolzano, Italy"],"raw_orcid":"https://orcid.org/0000-0002-7429-0974","affiliations":[{"raw_affiliation_string":"Faculty of Science and Technology, Free University of Bozen/Bolzano, Piazza Universita 1, 39100 Bolzano, Italy","institution_ids":["https://openalex.org/I171543936"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5012595152"],"corresponding_institution_ids":["https://openalex.org/I171543936","https://openalex.org/I4210104565"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":0.1625,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.39697934,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"11","issue":"4","first_page":"70","last_page":"70"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9990000128746033,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987000226974487,"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/path","display_name":"Path (computing)","score":0.7200986742973328},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.660142183303833},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6531630158424377},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6273043751716614},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5986605286598206},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5163666009902954},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5124983787536621},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4989297389984131},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4681406617164612},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4617004990577698},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.4425181746482849},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4246605932712555},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37166455388069153},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33970892429351807},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2806726098060608},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23740360140800476},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21428218483924866},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1968233287334442}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7200986742973328},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.660142183303833},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6531630158424377},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6273043751716614},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5986605286598206},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5163666009902954},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5124983787536621},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4989297389984131},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4681406617164612},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4617004990577698},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.4425181746482849},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4246605932712555},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37166455388069153},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33970892429351807},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2806726098060608},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23740360140800476},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21428218483924866},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1968233287334442},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics11040070","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11040070","pdf_url":"https://www.mdpi.com/2218-6581/11/4/70/pdf?version=1656650589","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:153a0299795d4533becc3f10cc7faecf","is_oa":true,"landing_page_url":"https://doaj.org/article/153a0299795d4533becc3f10cc7faecf","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"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 11, Iss 4, p 70 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/11/4/70/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics11040070","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 11; Issue 4; Pages: 70","raw_type":"Text"},{"id":"pmh:oai:unibz.it:11292337430001241","is_oa":true,"landing_page_url":"https://bia.unibz.it/esploro/outputs/journalArticle/Online-Computation-of-Time-Optimization-Based-Smooth-and/991006486694701241","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"Open Research (University of Surrey)","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.3390/robotics11040070","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11040070","pdf_url":"https://www.mdpi.com/2218-6581/11/4/70/pdf?version=1656650589","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":[{"id":"https://openalex.org/G4326099164","display_name":null,"funder_award_id":"TN201I","funder_id":"https://openalex.org/F4320325400","funder_display_name":"Libera Universit\u00e0 di Bolzano"}],"funders":[{"id":"https://openalex.org/F4320325400","display_name":"Libera Universit\u00e0 di Bolzano","ror":"https://ror.org/012ajp527"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4283755342.pdf","grobid_xml":"https://content.openalex.org/works/W4283755342.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W1885639605","https://openalex.org/W1966804170","https://openalex.org/W1967911984","https://openalex.org/W1982153978","https://openalex.org/W2026733661","https://openalex.org/W2053957850","https://openalex.org/W2063992620","https://openalex.org/W2091197916","https://openalex.org/W2123871098","https://openalex.org/W2145487433","https://openalex.org/W2160514056","https://openalex.org/W2296335794","https://openalex.org/W2318055712","https://openalex.org/W2502318522","https://openalex.org/W2567451351","https://openalex.org/W2752162720","https://openalex.org/W2775416623","https://openalex.org/W2806808311","https://openalex.org/W2896214412","https://openalex.org/W2909528630","https://openalex.org/W2925101122","https://openalex.org/W2938424316","https://openalex.org/W2950430092","https://openalex.org/W2962678727","https://openalex.org/W2964057747","https://openalex.org/W3004674587","https://openalex.org/W3044675897","https://openalex.org/W3113727404","https://openalex.org/W3130728025","https://openalex.org/W3131035128","https://openalex.org/W3138330110","https://openalex.org/W3147615361","https://openalex.org/W3164088261","https://openalex.org/W4232879711","https://openalex.org/W6666395896","https://openalex.org/W6682833191","https://openalex.org/W6697144307","https://openalex.org/W6989320385"],"related_works":["https://openalex.org/W3113932901","https://openalex.org/W650625605","https://openalex.org/W4323768008","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"Enforcing":[0],"the":[1,14,17,43,46,51,57,61,74,77,85,89,113,126,151,154],"cessation":[2],"of":[3,76,88,112,125,134,153],"motion":[4,58],"is":[5,148],"a":[6,64,100,105,117,122,131],"common":[7],"action":[8],"in":[9,26,39],"robotic":[10],"systems":[11],"to":[12,103],"avoid":[13],"damage":[15],"that":[16],"robot":[18,114],"can":[19],"exert":[20],"on":[21,116],"itself,":[22],"its":[23,135],"environment":[24],"or,":[25],"shared":[27],"environments,":[28],"people.":[29],"This":[30],"procedure":[31,48],"raises":[32],"two":[33],"main":[34],"concerns,":[35,97],"which":[36],"are":[37],"addressed":[38],"this":[40],"paper.":[41],"On":[42,60],"one":[44],"hand,":[45,63],"stopping":[47,146],"should":[49],"respect":[50],"collision":[52],"free":[53],"path":[54],"computed":[55],"by":[56],"planner.":[59],"other":[62],"sudden":[65],"stop":[66,111],"may":[67],"produce":[68],"large":[69],"current":[70],"peaks":[71],"and":[72,109,137],"challenge":[73],"limits":[75],"motor\u2019s":[78],"control":[79],"capabilities,":[80],"as":[81,83,128,130],"well":[82,129],"degrading":[84],"mechanical":[86],"performance":[87],"system,":[90],"i.e.,":[91],"increased":[92],"wear.":[93],"To":[94],"address":[95],"these":[96],"we":[98],"propose":[99],"novel":[101],"method":[102],"enforce":[104],"mechanically":[106],"feasible,":[107],"smooth":[108],"path-consistent":[110],"based":[115],"time-minimization":[118],"algorithm.":[119],"We":[120],"present":[121],"numerical":[123,132],"implementation":[124],"method,":[127],"study":[133],"complexity":[136],"convergence.":[138],"Finally,":[139],"an":[140,144],"experimental":[141],"comparison":[142],"with":[143],"off-the-shelf":[145],"scheme":[147],"presented,":[149],"showing":[150],"effectiveness":[152],"proposed":[155],"method.":[156]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2022-07-02T00:00:00"}
