{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:53:46Z","timestamp":1777715626991,"version":"3.51.4"},"reference-count":24,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[1998,9,1]],"date-time":"1998-09-01T00:00:00Z","timestamp":904608000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1998,9]]},"abstract":"<jats:p>Real-time collision-free trajectory control is dealt with by semi- infinite optimization techniques. This allows an optimal control problem incorporating a robotlobstacle distance function for col lision detection to be reduced to a finite-dimensional parameter- optimization problem. This reduced problem can be solved effi ciently by the numerical parameter-optimization method of sequen tial quadratic programming. In the case of a time-varying robot environment, a series of such optimization problems is solved in an iterative time frame, constituting a real-time optimization loop.<\/jats:p>","DOI":"10.1177\/027836499801700908","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T03:05:13Z","timestamp":1173582313000},"page":"1013-1021","source":"Crossref","is-referenced-by-count":13,"title":["Real-Time Collision- Free Trajectory Optimization of Robot Manipulators via Semi-Infinite Parameter Optimization"],"prefix":"10.1177","volume":"17","author":[{"given":"M.","family":"Schlemmer","sequence":"first","affiliation":[{"name":"DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling 82234, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"G.","family":"Gruebel","sequence":"additional","affiliation":[{"name":"DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling 82234, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1998,9,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400301"},{"key":"atypb2","volume-title":"Applied Optimal Control","author":"Bryson, A.E.","year":"1969"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-6333-3"},{"key":"atypb4","volume-title":"Practical Methods of Optimization","author":"Fletcher, R.","year":"1990"},{"key":"atypb5","volume-title":"Practical Optimization","author":"Gill, P.","year":"1988"},{"key":"atypb6","volume-title":"Calculus of Variations and Optimal Control Theory","author":"Hestenes, M.R.","year":"1966"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-322-93108-5"},{"key":"atypb8","volume-title":"Optimale Bahnsteuerung unter einschraenkenden Bedingungen. 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