{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,28]],"date-time":"2025-05-28T04:13:12Z","timestamp":1748405592968,"version":"3.41.0"},"publisher-location":"Cham","reference-count":38,"publisher":"Springer Nature Switzerland","isbn-type":[{"value":"9783031921957","type":"print"},{"value":"9783031921964","type":"electronic"}],"license":[{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025]]},"DOI":"10.1007\/978-3-031-92196-4_10","type":"book-chapter","created":{"date-parts":[[2025,5,27]],"date-time":"2025-05-27T12:23:19Z","timestamp":1748348599000},"page":"195-219","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["How to\u00a0Drawjectory? - Trajectory Planning Using Programming by\u00a0Demonstration"],"prefix":"10.1007","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-5693-4526","authenticated-orcid":false,"given":"Leonhard","family":"Alkewitz","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-0992-8155","authenticated-orcid":false,"given":"Timo","family":"Zuccarello","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6088-8393","authenticated-orcid":false,"given":"Alexander","family":"Raschke","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9067-3748","authenticated-orcid":false,"given":"Matthias","family":"Tichy","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,5,28]]},"reference":[{"key":"10_CR1","unstructured":"Optitrack. https:\/\/www.optitrack.com. Accessed 11 Apr 2024"},{"key":"10_CR2","unstructured":"Overview and usage of RQT. https:\/\/docs.ros.org\/en\/foxy\/Concepts\/About-RQt.html. Accessed 22 Apr 2024"},{"key":"10_CR3","unstructured":"Rviz user guide. http:\/\/docs.ros.org\/en\/iron\/Tutorials\/Intermediate\/RViz\/RViz-User-Guide\/RViz-User-Guide.html. Accessed 15 Apr 2024"},{"key":"10_CR4","doi-asserted-by":"publisher","first-page":"270","DOI":"10.1016\/j.comcom.2019.10.014","volume":"149","author":"S Aggarwal","year":"2020","unstructured":"Aggarwal, S., Kumar, N.: Path planning techniques for unmanned aerial vehicles: a review, solutions, and challenges. Comput. Commun. 149, 270\u2013299 (2020)","journal-title":"Comput. Commun."},{"key":"10_CR5","doi-asserted-by":"crossref","unstructured":"Aleotti, J., Caselli, S., Maccherozzi, G.: Trajectory reconstruction with NURBS curves for robot programming by demonstration. In: 2005 International Symposium on Computational Intelligence in Robotics and Automation, pp. 73\u201378. IEEE (2005)","DOI":"10.1109\/CIRA.2005.1554257"},{"key":"10_CR6","doi-asserted-by":"publisher","unstructured":"Alkewitz, L.: How to Drawjectory? - trajectory planning using programming by demonstration (reproducibility package) (2024). https:\/\/doi.org\/10.5281\/zenodo.13992727","DOI":"10.5281\/zenodo.13992727"},{"key":"10_CR7","doi-asserted-by":"publisher","unstructured":"Alkewitz, L.: How to Drawjectory? Trajectory planning using programming by demonstration (2024). https:\/\/doi.org\/10.18725\/OPARU-54401. Accessed 01 Nov 2024","DOI":"10.18725\/OPARU-54401"},{"key":"10_CR8","unstructured":"Bochkanov, S.: Spline interpolation and fitting. https:\/\/www.alglib.net\/interpolation\/spline3.php. Accessed 08 Oct 2024"},{"issue":"23","key":"10_CR9","doi-asserted-by":"publisher","first-page":"12796","DOI":"10.3390\/app132312796","volume":"13","author":"A Bonci","year":"2023","unstructured":"Bonci, A., Gaudeni, F., Giannini, M.C., Longhi, S.: Robot operating system 2 (ROS2)-based frameworks for increasing robot autonomy: a survey. Appl. Sci. 13(23), 12796 (2023)","journal-title":"Appl. Sci."},{"key":"10_CR10","doi-asserted-by":"crossref","unstructured":"Calinon, S.: Learning from demonstration (programming by demonstration). Encycl. Robot. 1\u20138 (2018)","DOI":"10.1007\/978-3-642-41610-1_27-1"},{"issue":"3","key":"10_CR11","doi-asserted-by":"publisher","first-page":"1247","DOI":"10.5194\/gmd-7-1247-2014","volume":"7","author":"T Chai","year":"2014","unstructured":"Chai, T., Draxler, R.R.: Root mean square error (RMSE) or mean absolute error (MAE)?-arguments against avoiding RMSE in the literature. Geosci. Model Dev. 7(3), 1247\u20131250 (2014)","journal-title":"Geosci. Model Dev."},{"issue":"9","key":"10_CR12","doi-asserted-by":"publisher","first-page":"2293","DOI":"10.14778\/3665844.3665858","volume":"17","author":"Y Chang","year":"2024","unstructured":"Chang, Y., Tanin, E., Cong, G., Jensen, C.S., Qi, J.: Trajectory similarity measurement: an efficiency perspective. Proc. VLDB Endow. 17(9), 2293\u20132306 (2024)","journal-title":"Proc. VLDB Endow."},{"issue":"4","key":"10_CR13","first-page":"223","volume":"58","author":"RE Deakin","year":"1998","unstructured":"Deakin, R.E.: 3-D coordinate transformations. Surv. Land Inf. Syst. 58(4), 223\u2013234 (1998)","journal-title":"Surv. Land Inf. Syst."},{"key":"10_CR14","doi-asserted-by":"crossref","unstructured":"Foehn, P., Romero, A., Scaramuzza, D.: Time-optimal planning for quadrotor waypoint flight. Sci. Robot. 6(56), eabh1221 (2021)","DOI":"10.1126\/scirobotics.abh1221"},{"key":"10_CR15","doi-asserted-by":"crossref","unstructured":"Gasparetto, A., Boscariol, P., Lanzutti, A., Vidoni, R.: Path planning and trajectory planning algorithms: a general overview. In: Motion and Operation Planning of Robotic Systems: Background and Practical Approaches, pp. 3\u201327 (2015)","DOI":"10.1007\/978-3-319-14705-5_1"},{"key":"10_CR16","doi-asserted-by":"crossref","unstructured":"Hart, S.G., Staveland, L.E.: Development of NASA-TLX (task load index): results of empirical and theoretical research. In: Advances in psychology, vol.\u00a052, pp. 139\u2013183. Elsevier (1988)","DOI":"10.1016\/S0166-4115(08)62386-9"},{"issue":"1","key":"10_CR17","doi-asserted-by":"publisher","first-page":"1485","DOI":"10.3182\/20110828-6-IT-1002.03178","volume":"44","author":"M Hehn","year":"2011","unstructured":"Hehn, M., D\u2019Andrea, R.: Quadrocopter trajectory generation and control. IFAC Proc. Vol. 44(1), 1485\u20131491 (2011)","journal-title":"IFAC Proc. Vol."},{"key":"10_CR18","doi-asserted-by":"publisher","unstructured":"Heimann, O., Guhl, J.: Industrial robot programming methods: a scoping review. In: 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), vol.\u00a01, pp. 696\u2013703 (2020). https:\/\/doi.org\/10.1109\/ETFA46521.2020.9211997","DOI":"10.1109\/ETFA46521.2020.9211997"},{"key":"10_CR19","doi-asserted-by":"crossref","unstructured":"Herdel, V., Yamin, L.J., Cauchard, J.R.: Above and beyond: a scoping review of domains and applications for human-drone interaction. In: Proceedings of the 2022 CHI Conference on Human Factors in Computing Systems, pp. 1\u201322 (2022)","DOI":"10.1145\/3491102.3501881"},{"key":"10_CR20","doi-asserted-by":"crossref","unstructured":"Hoppe, M., Burger, M., Schmidt, A., Kosch, T.: DronOS: a flexible open-source prototyping framework for interactive drone routines. In: Proceedings of the 18th International Conference on Mobile and Ubiquitous Multimedia, pp.\u00a01\u20137 (2019)","DOI":"10.1145\/3365610.3365642"},{"key":"10_CR21","doi-asserted-by":"crossref","unstructured":"Hwang, J.H., Arkin, R.C., Kwon, D.S.: Mobile robots at your fingertip: Bezier curve on-line trajectory generation for supervisory control. In: Proceedings 2003 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No. 03CH37453), vol.\u00a02, pp. 1444\u20131449. IEEE (2003)","DOI":"10.1109\/IROS.2003.1248847"},{"key":"10_CR22","doi-asserted-by":"crossref","unstructured":"Joachim\u00a0Gudmundsson, N., Laube, A.P.: Computational movement analysis (2012)","DOI":"10.1007\/978-3-540-72680-7_22"},{"key":"10_CR23","unstructured":"Luis, C., Ny, J.L.: Design of a trajectory tracking controller for a nanoquadcopter. arXiv preprint arXiv:1608.05786 (2016)"},{"key":"10_CR24","doi-asserted-by":"crossref","unstructured":"Macenski, S., Foote, T., Gerkey, B., Lalancette, C., Woodall, W.: Robot operating system 2: design, architecture, and uses in the wild. Sci. Robot. 7(66), eabm6074 (2022)","DOI":"10.1126\/scirobotics.abm6074"},{"issue":"1","key":"10_CR25","first-page":"1049","volume":"45","author":"S McKinley","year":"1998","unstructured":"McKinley, S., Levine, M.: Cubic spline interpolation. Coll. Redwoods 45(1), 1049\u20131060 (1998)","journal-title":"Coll. Redwoods"},{"key":"10_CR26","doi-asserted-by":"crossref","unstructured":"Melchior, N.A., Simmons, R.: Graph-based trajectory planning through programming by demonstration. In: 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 1929\u20131936. IEEE (2012)","DOI":"10.1109\/IROS.2012.6386101"},{"key":"10_CR27","doi-asserted-by":"crossref","unstructured":"Mellinger, D., Kumar, V.: Minimum snap trajectory generation and control for quadrotors. In: 2011 IEEE International Conference on Robotics and Automation, pp. 2520\u20132525. IEEE (2011)","DOI":"10.1109\/ICRA.2011.5980409"},{"issue":"6","key":"10_CR28","doi-asserted-by":"publisher","first-page":"1294","DOI":"10.1109\/TRO.2015.2479878","volume":"31","author":"MW Mueller","year":"2015","unstructured":"Mueller, M.W., Hehn, M., D\u2019Andrea, R.: A computationally efficient motion primitive for quadrocopter trajectory generation. IEEE Trans. Rob. 31(6), 1294\u20131310 (2015)","journal-title":"IEEE Trans. Rob."},{"key":"10_CR29","doi-asserted-by":"crossref","unstructured":"Olkin, Z., Rogers, J.: Autonomous quadrotor trajectory planning and control for in-flight aerial vehicle capture. In: 2021 IEEE Aerospace Conference (50100), pp. 1\u201310. IEEE (2021)","DOI":"10.1109\/AERO50100.2021.9438242"},{"key":"10_CR30","doi-asserted-by":"crossref","unstructured":"Pham, Q.C.: Trajectory planning 52 (2015)","DOI":"10.1007\/978-1-4471-4670-4_92"},{"key":"10_CR31","doi-asserted-by":"publisher","first-page":"297","DOI":"10.1146\/annurev-control-100819-063206","volume":"3","author":"H Ravichandar","year":"2020","unstructured":"Ravichandar, H., Polydoros, A.S., Chernova, S., Billard, A.: Recent advances in robot learning from demonstration. Annu. Rev. Control Robot. Auton. Syst. 3, 297\u2013330 (2020)","journal-title":"Annu. Rev. Control Robot. Auton. Syst."},{"issue":"1","key":"10_CR32","first-page":"43","volume":"7","author":"K Toohey","year":"2015","unstructured":"Toohey, K., Duckham, M.: Trajectory similarity measures. Sigspat. Spec. 7(1), 43\u201350 (2015)","journal-title":"Sigspat. Spec."},{"key":"10_CR33","doi-asserted-by":"crossref","unstructured":"Usenko, V., Von\u00a0Stumberg, L., Pangercic, A., Cremers, D.: Real-time trajectory replanning for MAVs using uniform B-splines and a 3D circular buffer. In: 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 215\u2013222. IEEE (2017)","DOI":"10.1109\/IROS.2017.8202160"},{"key":"10_CR34","doi-asserted-by":"crossref","unstructured":"Witte, T., Tichy, M.: A hybrid editor for fast robot mission prototyping. In: 2019 34th IEEE\/ACM International Conference on Automated Software Engineering Workshop (ASEW), pp. 41\u201344. IEEE (2019)","DOI":"10.1109\/ASEW.2019.00026"},{"key":"10_CR35","doi-asserted-by":"crossref","unstructured":"Wohlin, C., Runeson, P., H\u00f6st, M., Ohlsson, M.C., Regnell, B., Wessl\u00e9n, A.: Experimentation in Software Engineering. Springer (2012)","DOI":"10.1007\/978-3-642-29044-2"},{"key":"10_CR36","doi-asserted-by":"publisher","first-page":"249","DOI":"10.1016\/j.neucom.2019.01.052","volume":"338","author":"S Xu","year":"2019","unstructured":"Xu, S., Ou, Y., Duan, J., Wu, X., Feng, W., Liu, M.: Robot trajectory tracking control using learning from demonstration method. Neurocomputing 338, 249\u2013261 (2019)","journal-title":"Neurocomputing"},{"issue":"2","key":"10_CR37","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3397319","volume":"4","author":"YP Yau","year":"2020","unstructured":"Yau, Y.P., Lee, L.H., Li, Z., Braud, T., Ho, Y.H., Hui, P.: How subtle can it get? A trimodal study of ring-sized interfaces for one-handed drone control. Proc. ACM Interact. Mob. Wearable Ubiquit. Technol. 4(2), 1\u201329 (2020)","journal-title":"Proc. ACM Interact. Mob. Wearable Ubiquit. Technol."},{"issue":"2","key":"10_CR38","doi-asserted-by":"publisher","first-page":"11002","DOI":"10.1016\/j.ifacol.2023.10.799","volume":"56","author":"M Zimmermann","year":"2023","unstructured":"Zimmermann, M., Vu, M.N., Beck, F., Nguyen, A., Kugi, A.: Two-step online trajectory planning of a quadcopter in indoor environments with obstacles. IFAC-PapersOnLine 56(2), 11002\u201311009 (2023)","journal-title":"IFAC-PapersOnLine"}],"container-title":["Lecture Notes in Computer Science","Go Where the Bugs Are"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-031-92196-4_10","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,27]],"date-time":"2025-05-27T12:23:28Z","timestamp":1748348608000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-031-92196-4_10"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"ISBN":["9783031921957","9783031921964"],"references-count":38,"URL":"https:\/\/doi.org\/10.1007\/978-3-031-92196-4_10","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"value":"0302-9743","type":"print"},{"value":"1611-3349","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025]]},"assertion":[{"value":"28 May 2025","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}}]}}