{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,19]],"date-time":"2026-01-19T09:21:35Z","timestamp":1768814495596,"version":"3.49.0"},"reference-count":35,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2019,11,16]],"date-time":"2019-11-16T00:00:00Z","timestamp":1573862400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,11,16]],"date-time":"2019-11-16T00:00:00Z","timestamp":1573862400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100003407","name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca","doi-asserted-by":"publisher","award":["CUP D49D17000250006 (PON 2014-2020)"],"award-info":[{"award-number":["CUP D49D17000250006 (PON 2014-2020)"]}],"id":[{"id":"10.13039\/501100003407","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2020,8]]},"DOI":"10.1007\/s10846-019-01116-9","type":"journal-article","created":{"date-parts":[[2019,11,16]],"date-time":"2019-11-16T06:02:55Z","timestamp":1573884175000},"page":"245-260","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["An Evolutionary Approach to Time-Optimal Control of Robotic Manipulators"],"prefix":"10.1007","volume":"99","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0768-8541","authenticated-orcid":false,"given":"Enrico","family":"Ferrentino","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4092-6102","authenticated-orcid":false,"given":"Antonio","family":"Della Cioppa","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2019-2826","authenticated-orcid":false,"given":"Angelo","family":"Marcelli","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3385-8866","authenticated-orcid":false,"given":"Pasquale","family":"Chiacchio","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2019,11,16]]},"reference":[{"issue":"4","key":"1116_CR1","doi-asserted-by":"publisher","first-page":"341","DOI":"10.3844\/jcssp.2008.341.344","volume":"4","author":"I Al-Taharwa","year":"2008","unstructured":"Al-Taharwa, I., Sheta, A., Al-Weshah, M.: A mobile robot path planning using genetic algorithm in static environment. J. Comput. Sci. 4(4), 341\u2013344 (2008). https:\/\/doi.org\/10.3844\/jcssp.2008.341.344","journal-title":"J. Comput. Sci."},{"issue":"5","key":"1116_CR2","doi-asserted-by":"publisher","first-page":"443","DOI":"10.1109\/TEVC.2002.800880","volume":"6","author":"E Alba","year":"2002","unstructured":"Alba, E., Tomassini, M.: Parallelism and evolutionary algorithms. IEEE Trans. Evol. Comput. 6(5), 443\u2013462 (2002). https:\/\/doi.org\/10.1109\/TEVC.2002.800880","journal-title":"IEEE Trans. Evol. Comput."},{"key":"1116_CR3","doi-asserted-by":"publisher","unstructured":"Baba, N., Kubota, N.: Collision avoidance planning of a robot manipulator by using genetic algorithm - a consideration for the problem in which moving obstacles and\/or several robots are included in the workspace. In: Proceedings of the First IEEE Conference on Evolutionary Computation. IEEE World Congress on Computational Intelligence. https:\/\/doi.org\/10.1109\/icec.1994.349970, pp 714\u2013719. IEEE (1994)","DOI":"10.1109\/icec.1994.349970"},{"issue":"3","key":"1116_CR4","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1177\/027836498500400301","volume":"4","author":"JE Bobrow","year":"1985","unstructured":"Bobrow, J.E., Dubowsky, S., Gibson, J.S.: Time-optimal control of robotic manipulators along specified paths. Int. J. Robot. Res. 4(3), 3\u201317 (1985). https:\/\/doi.org\/10.1177\/027836498500400301","journal-title":"Int. J. Robot. Res."},{"key":"1116_CR5","doi-asserted-by":"crossref","unstructured":"Burjorjee, K.M.: Generative fixation: a unifed explanation for the adaptive capacity of simple recombinative genetic algorithms. Phd thesis, Brandeis University (2009)","DOI":"10.1145\/1810132.1810134"},{"issue":"4","key":"1116_CR6","doi-asserted-by":"publisher","first-page":"429","DOI":"10.1162\/evco.1999.7.4.429","volume":"7","author":"E Cant\u00fa-Paz","year":"1999","unstructured":"Cant\u00fa-Paz, E., Goldberg, D.E.: On the scalability of parallel genetic algorithms. Evol. Comput. 7(4), 429\u2013449 (1999). https:\/\/doi.org\/10.1162\/evco.1999.7.4.429","journal-title":"Evol. Comput."},{"key":"1116_CR7","doi-asserted-by":"publisher","unstructured":"Casalino, A., Zanchettin, A.M., Rocco, P.: Online planning of optimal trajectories on assigned paths with dynamic constraints for robot manipulators. In: 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE (2016). https:\/\/doi.org\/10.1109\/iros.2016.7759168","DOI":"10.1109\/iros.2016.7759168"},{"issue":"4","key":"1116_CR8","doi-asserted-by":"publisher","first-page":"767","DOI":"10.1080\/00207179208934342","volume":"56","author":"Y Chen","year":"1992","unstructured":"Chen, Y., Chien, S.Y.P., Desrochers, A.A.: General structure of time-optimal control of robotic manipulators moving along prescribed paths. Int. J. Control 56(4), 767\u2013782 (1992). https:\/\/doi.org\/10.1080\/00207179208934342","journal-title":"Int. J. Control"},{"key":"1116_CR9","doi-asserted-by":"publisher","unstructured":"Craenen, B., Eiben, A., Marchiori, E.: How to handle constraints with evolutionary algorithms. In: Practice Handbook on Genetic Algorithms. https:\/\/doi.org\/10.1201\/9781420035568.ch10. Chapman and Hall\/CRC (2000)","DOI":"10.1201\/9781420035568.ch10"},{"key":"1116_CR10","doi-asserted-by":"publisher","first-page":"50","DOI":"10.1016\/j.ins.2012.04.027","volume":"207","author":"I De Falco","year":"2012","unstructured":"De Falco, I., Della Cioppa, A., Maisto, D., Scafuri, U., Tarantino, E.: Biological invasion-inspired migration in distributed evolutionary algorithms. Inf. Sci. 207, 50\u201365 (2012). https:\/\/doi.org\/10.1016\/j.ins.2012.04.027","journal-title":"Inf. Sci."},{"key":"1116_CR11","doi-asserted-by":"publisher","first-page":"653","DOI":"10.1016\/j.ins.2014.03.083","volume":"278","author":"I De Falco","year":"2014","unstructured":"De Falco, I., Della Cioppa, A., Maisto, D., Scafuri, U., Tarantino, E.: An adaptive invasion-based model for distributed differential evolution. Inf. Sci. 278, 653\u2013672 (2014). https:\/\/doi.org\/10.1016\/j.ins.2014.03.083","journal-title":"Inf. Sci."},{"issue":"2","key":"1116_CR12","doi-asserted-by":"publisher","first-page":"379","DOI":"10.1115\/1.2194078","volume":"128","author":"J Dong","year":"2006","unstructured":"Dong, J., Stori, J.A.: A generalized time-optimal bidirectional scan algorithm for constrained feed-rate optimization. J. Dyn. Syst. Meas. Control 128(2), 379\u2013390 (2006). https:\/\/doi.org\/10.1115\/1.2194078","journal-title":"J. Dyn. Syst. Meas. Control"},{"issue":"3","key":"1116_CR13","first-page":"131","volume":"2","author":"BI Kazem","year":"2008","unstructured":"Kazem, B.I., Mahdi, A.I., Oudah, A.T.: Motion planning for a robot arm by using genetic algorithm. Jordan J. Mech. Ind. Eng. 2(3), 131\u2013136 (2008)","journal-title":"Jordan J. Mech. Ind. Eng."},{"issue":"7","key":"1116_CR14","doi-asserted-by":"publisher","first-page":"967","DOI":"10.1109\/tac.2005.851434","volume":"50","author":"SJ Kim","year":"2005","unstructured":"Kim, S.J., Choi, D.S., Ha, I.J.: A comparison principle for state-constrained differential inequalities and its application to time-optimal control. IEEE Trans. Autom. Control 50(7), 967\u2013983 (2005). https:\/\/doi.org\/10.1109\/tac.2005.851434","journal-title":"IEEE Trans. Autom. Control"},{"key":"1116_CR15","doi-asserted-by":"publisher","unstructured":"Krishnan, P.S., Paw, J.K.S., Kiong, T.S.: Cognitive map approach for mobility path optimization using multiple objectives genetic algorithm. In: 4th International Conference on Auton. Robot. Agents. https:\/\/doi.org\/10.1109\/icara.2000.4803970. IEEE (2009)","DOI":"10.1109\/icara.2000.4803970"},{"issue":"3-4","key":"1116_CR16","doi-asserted-by":"publisher","first-page":"245","DOI":"10.1016\/S0020-0255(98)10052-X","volume":"113","author":"YD Lee","year":"1999","unstructured":"Lee, Y.D., Lee, B.H., Kim, H.G.: An evolutionary approach for time optimal trajectory planning of a robotic manipulator. Inf. Sci. 113(3-4), 245\u2013260 (1999). https:\/\/doi.org\/10.1016\/s0020-0255(98)10052-x","journal-title":"Inf. Sci."},{"key":"1116_CR17","doi-asserted-by":"crossref","DOI":"10.7551\/mitpress\/3927.001.0001","volume-title":"An introduction to genetic algorithms","author":"M Mitchell","year":"1996","unstructured":"Mitchell, M.: An introduction to genetic algorithms. MIT Press, Cambridge (1996)"},{"issue":"4","key":"1116_CR18","doi-asserted-by":"publisher","first-page":"803","DOI":"10.1007\/s11012-010-9339-3","volume":"46","author":"A Obradovi\u0107","year":"2010","unstructured":"Obradovi\u0107, A., Vukovi\u0107, J., Mladenovi\u0107, N., Mitrovi\u0107, Z.: Time optimal motions of mechanical system with a prescribed trajectory. Meccanica 46(4), 803\u2013816 (2010). https:\/\/doi.org\/10.1007\/s11012-010-9339-3","journal-title":"Meccanica"},{"issue":"2","key":"1116_CR19","doi-asserted-by":"publisher","first-page":"115","DOI":"10.1109\/jra.1987.1087090","volume":"3","author":"F Pfeiffer","year":"1987","unstructured":"Pfeiffer, F., Johanni, R.: A concept for manipulator trajectory planning. IEEE J. Robot. Autom. 3(2), 115\u2013123 (1987). https:\/\/doi.org\/10.1109\/jra.1987.1087090","journal-title":"IEEE J. Robot. Autom."},{"key":"1116_CR20","doi-asserted-by":"publisher","unstructured":"Pham, H., Pham, Q.C.: On the structure of the time-optimal path parameterization problem with third-order constraints. In: 2017 IEEE International Conference on Robot. Autom (ICRA). IEEE (2017). https:\/\/doi.org\/10.1109\/icra.2017.7989084","DOI":"10.1109\/icra.2017.7989084"},{"issue":"6","key":"1116_CR21","doi-asserted-by":"publisher","first-page":"1533","DOI":"10.1109\/TRO.2014.2351113","volume":"30","author":"QC Pham","year":"2014","unstructured":"Pham, Q.C.: A general, fast, and robust implementation of the time-optimal path parameterization algorithm. IEEE Trans. Robot. 30(6), 1533\u20131540 (2014). https:\/\/doi.org\/10.1109\/tro.2014.2351113","journal-title":"IEEE Trans. Robot."},{"key":"1116_CR22","doi-asserted-by":"publisher","unstructured":"Reiter, A., Gattringer, H., M\u00fcller, A.: Redundancy resolution in minimum-time path tracking of robotic manipulators. In: Proceedings of the 13th International Conference on Information Control Autom. Robot, pp. 61\u201368. SCITEPRESS - Science and Technology Publications. https:\/\/doi.org\/10.5220\/0005975800610068 (2016)","DOI":"10.5220\/0005975800610068"},{"key":"1116_CR23","doi-asserted-by":"publisher","unstructured":"Reiter, A., M\u00fcller, A., Gattringer, H.: Inverse kinematics in minimum-time trajectory planning for kinematically redundant manipulators. In: IECON 2016 - 42nd Annual Conference on IEEE Ind. Electron. Soc, pp 6873\u20136878. IEEE (2016). https:\/\/doi.org\/10.1109\/iecon.2016.7793436","DOI":"10.1109\/iecon.2016.7793436"},{"issue":"4","key":"1116_CR24","doi-asserted-by":"publisher","first-page":"1681","DOI":"10.1109\/tii.2018.2792002","volume":"14","author":"A Reiter","year":"2018","unstructured":"Reiter, A., M\u00fcller, A., Gattringer, H.: On higher order inverse kinematics methods in time-optimal trajectory planning for kinematically redundant manipulators. IEEE Trans. Ind. Inform. 14(4), 1681\u20131690 (2018). https:\/\/doi.org\/10.1109\/tii.2018.2792002","journal-title":"IEEE Trans. Ind. Inform."},{"issue":"4","key":"1116_CR25","doi-asserted-by":"publisher","first-page":"561","DOI":"10.1109\/70.313107","volume":"10","author":"Z Shiller","year":"1994","unstructured":"Shiller, Z.: On singular time-optimal control along specified paths. IEEE Trans. Robot. Autom. 10(4), 561\u2013566 (1994). https:\/\/doi.org\/10.1109\/70.313107","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"1","key":"1116_CR26","doi-asserted-by":"publisher","first-page":"34","DOI":"10.1115\/1.2896505","volume":"114","author":"Z Shiller","year":"1992","unstructured":"Shiller, Z., Lu, H.H.: Computation of path constrained time optimal motions with dynamic singularities. J. Dyn. Syst. Meas. Control 114(1), 34\u201340 (1992). https:\/\/doi.org\/10.1115\/1.2896505","journal-title":"J. Dyn. Syst. Meas. Control"},{"issue":"6","key":"1116_CR27","doi-asserted-by":"publisher","first-page":"531","DOI":"10.1109\/TAC.1985.1104009","volume":"30","author":"K Shin","year":"1985","unstructured":"Shin, K., McKay, N.: Minimum-time control of robotic manipulators with geometric path constraints. IEEE Trans. on Autom Control 30(6), 531\u2013541 (1985). https:\/\/doi.org\/10.1109\/tac.1985.1104009","journal-title":"IEEE Trans. on Autom Control"},{"issue":"6","key":"1116_CR28","doi-asserted-by":"publisher","first-page":"491","DOI":"10.1109\/TAC.1986.1104317","volume":"31","author":"K Shin","year":"1986","unstructured":"Shin, K., McKay, N.: A dynamic programming approach to trajectory planning of robotic manipulators. IEEE Trans. Autom. Control 31(6), 491\u2013500 (1986). https:\/\/doi.org\/10.1109\/tac.1986.1104317","journal-title":"IEEE Trans. Autom. Control"},{"issue":"12","key":"1116_CR29","doi-asserted-by":"publisher","first-page":"1044","DOI":"10.1109\/TAC.1987.1104523","volume":"32","author":"K Shin","year":"1987","unstructured":"Shin, K., McKay, N.: Robust trajectory planning for robotic manipulators under payload uncertainties. IEEE Trans. Autom. Control 32(12), 1044\u20131054 (1987). https:\/\/doi.org\/10.1109\/tac.1987.1104523","journal-title":"IEEE Trans. Autom. Control"},{"issue":"2","key":"1116_CR30","doi-asserted-by":"publisher","first-page":"88","DOI":"10.1115\/1.3143842","volume":"109","author":"S Singh","year":"1987","unstructured":"Singh, S., Leu, M.C.: Optimal trajectory generation for robotic manipulators using dynamic programming. J. Dyn. Syst. Meas. Control 109(2), 88 (1987). https:\/\/doi.org\/10.1115\/1.3143842","journal-title":"J. Dyn. Syst. Meas. Control"},{"issue":"1","key":"1116_CR31","doi-asserted-by":"publisher","first-page":"118","DOI":"10.1109\/70.88024","volume":"5","author":"JJE Slotine","year":"1989","unstructured":"Slotine, J.J.E., Yang, H.S.: Improving the efficiency of time-optimal path-following algorithms. IEEE Trans. Robot. Autom. 5(1), 118\u2013124 (1989). https:\/\/doi.org\/10.1109\/70.88024","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"4","key":"1116_CR32","doi-asserted-by":"publisher","first-page":"341","DOI":"10.1023\/A:1008202821328","volume":"11","author":"R Storn","year":"1997","unstructured":"Storn, R., Price, K.V.: Differential evolution - a simple and efficient heuristic for global optimization over continuous spaces. J. Global Optimization 11(4), 341\u2013359 (1997). https:\/\/doi.org\/10.1023\/A:1008202821328","journal-title":"J. Global Optimization"},{"key":"1116_CR33","doi-asserted-by":"publisher","unstructured":"Tu, J., Yang, S.: Genetic algorithm based path planning for a mobile robot. In: Proceedings of the IEEE International Conference on Robot. Autom, vol. 1, pp 1221\u20131226. IEEE (2003). https:\/\/doi.org\/10.1109\/robot.2003.1241759","DOI":"10.1109\/robot.2003.1241759"},{"issue":"10","key":"1116_CR34","doi-asserted-by":"publisher","first-page":"2318","DOI":"10.1109\/tac.2009.2028959","volume":"54","author":"D Verscheure","year":"2009","unstructured":"Verscheure, D., Demeulenaere, B., Swevers, J., Schutter, J.D., Diehl, M.: Time-optimal path tracking for robots: a convex optimization approach. IEEE Trans. Autom. Control 54(10), 2318\u20132327 (2009). https:\/\/doi.org\/10.1109\/tac.2009.2028959","journal-title":"IEEE Trans. Autom. Control"},{"key":"1116_CR35","doi-asserted-by":"publisher","unstructured":"Zlajpah, L.: On time optimal path control of manipulators with bounded joint velocities and torques. In: Proceedings of the IEEE International Conference on Robot. Autom, pp 1572\u20131577. IEEE (1996). https:\/\/doi.org\/10.1109\/robot.1996.506928","DOI":"10.1109\/robot.1996.506928"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01116-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-019-01116-9\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-019-01116-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,7,27]],"date-time":"2024-07-27T01:53:13Z","timestamp":1722045193000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-019-01116-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11,16]]},"references-count":35,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2020,8]]}},"alternative-id":["1116"],"URL":"https:\/\/doi.org\/10.1007\/s10846-019-01116-9","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,11,16]]},"assertion":[{"value":"17 July 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 October 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"16 November 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with Ethical Standards"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Conflict of interests"}}]}}