{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T01:11:23Z","timestamp":1740100283496,"version":"3.37.3"},"reference-count":32,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100004318","name":"Microsoft","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100004318","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,5,30]]},"DOI":"10.1109\/icra48506.2021.9561505","type":"proceedings-article","created":{"date-parts":[[2021,10,20]],"date-time":"2021-10-20T00:28:35Z","timestamp":1634689715000},"page":"9995-10001","source":"Crossref","is-referenced-by-count":19,"title":["CollisionIK: A Per-Instant Pose Optimization Method for Generating Robot Motions with Environment Collision Avoidance"],"prefix":"10.1109","author":[{"given":"Daniel","family":"Rakita","sequence":"first","affiliation":[]},{"given":"Haochen","family":"Shi","sequence":"additional","affiliation":[]},{"given":"Bilge","family":"Mutlu","sequence":"additional","affiliation":[]},{"given":"Michael","family":"Gleicher","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2017.8263933"},{"key":"ref31","article-title":"Generic convex collision detection using support mapping","author":"kenwright","year":"2015","journal-title":"Technical Report"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1016\/j.comgeo.2005.10.005"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911406761"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2035744"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-011-9254-z"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2016.XII.004"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.2514\/2.4231"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152817"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980280"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2013.IX.031"},{"key":"ref18","doi-asserted-by":"crossref","DOI":"10.1609\/icaps.v22i1.13513","article-title":"ITOMP: Incremental trajectory optimization for real-time replanning in dynamic environments","volume":"22","author":"park","year":"2012","journal-title":"Proceedings of the International Conference on Automated Planning and Scheduling"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.13310"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.043"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1145\/235815.235821"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2011.2181749"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1111\/1467-8659.00543"},{"article-title":"Rapidly-exploring random trees: A new tool for path planning","year":"1998","author":"lavalle","key":"ref6"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1016\/j.cag.2006.02.011"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.619371"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/70.508439"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1006\/gmod.2001.0549"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844730"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1145\/311535.311539"},{"journal-title":"Advanced Robotics Redundancy and Optimization","year":"1990","author":"nakamura","key":"ref20"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1145\/2909824.3020254"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363472"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1145\/3171221.3171279"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaw0955"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225337"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-020-09918-9"}],"event":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2021,5,30]]},"location":"Xi'an, China","end":{"date-parts":[[2021,6,5]]}},"container-title":["2021 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9560720\/9560666\/09561505.pdf?arnumber=9561505","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,1,12]],"date-time":"2023-01-12T22:54:56Z","timestamp":1673564096000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9561505\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,30]]},"references-count":32,"URL":"https:\/\/doi.org\/10.1109\/icra48506.2021.9561505","relation":{},"subject":[],"published":{"date-parts":[[2021,5,30]]}}}