{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,11]],"date-time":"2025-06-11T20:06:28Z","timestamp":1749672388996,"version":"3.28.0"},"reference-count":22,"publisher":"IEEE","license":[{"start":{"date-parts":[[2020,5,1]],"date-time":"2020-05-01T00:00:00Z","timestamp":1588291200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2020,5,1]],"date-time":"2020-05-01T00:00:00Z","timestamp":1588291200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2020,5,1]],"date-time":"2020-05-01T00:00:00Z","timestamp":1588291200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2020,5]]},"DOI":"10.1109\/icra40945.2020.9196668","type":"proceedings-article","created":{"date-parts":[[2020,9,15]],"date-time":"2020-09-15T17:25:46Z","timestamp":1600190746000},"page":"469-475","source":"Crossref","is-referenced-by-count":4,"title":["Exploiting sparsity in robot trajectory optimization with direct collocation and geometric algorithms"],"prefix":"10.1109","author":[{"given":"Daniel","family":"Cardona-Ortiz","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alvaro","family":"Paz","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gustavo","family":"Arechavaleta","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913506757"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2783371"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794398"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.2514\/1.A32071"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1007\/b98874"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1093\/imamat\/13.1.117"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1115\/1.4039078"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4899-7560-7"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.038"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1115\/1.1376121"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1016\/S0098-1354(02)00195-3"},{"article-title":"Cgpops: A c++ software for solving multiple-phase optimal control problems using adaptive gaussian quadrature collocation and sparse nonlinear programming","year":"2019","author":"agamawi","key":"ref3"},{"key":"ref6","first-page":"497","article-title":"A survey of numerical methods for optimal control","volume":"135","author":"rao","year":"2009","journal-title":"Advances in the Astronautical Sciences"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1137\/1.9780898718577"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2018.8488779"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487460"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/CACSD.2010.5612676"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1002\/oca.939"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1137\/16M1062569"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400606"},{"key":"ref22","article-title":"Analytical inverse of the joint space inertia matrix","author":"carpentier","year":"2018","journal-title":"Technical Report"},{"key":"ref21","volume":"17","author":"marsden","year":"2013","journal-title":"Introduction to Mechanics and Symmetry A Basic Exposition of Classical Mechanical Systems"}],"event":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2020,5,31]]},"location":"Paris, France","end":{"date-parts":[[2020,8,31]]}},"container-title":["2020 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9187508\/9196508\/09196668.pdf?arnumber=9196668","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,6,27]],"date-time":"2022-06-27T20:08:30Z","timestamp":1656360510000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9196668\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,5]]},"references-count":22,"URL":"https:\/\/doi.org\/10.1109\/icra40945.2020.9196668","relation":{},"subject":[],"published":{"date-parts":[[2020,5]]}}}