{"id":"https://openalex.org/W2101931708","doi":"https://doi.org/10.1109/iros.2011.6094595","title":"On the advantages of task motion multigraphs for efficient mobile manipulation","display_name":"On the advantages of task motion multigraphs for efficient mobile manipulation","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2101931708","doi":"https://doi.org/10.1109/iros.2011.6094595","mag":"2101931708"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094595","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078911730","display_name":"Ioan A. \u015eucan","orcid":null},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"funder","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"I. A. Sucan","raw_affiliation_strings":["Rice University, USA,"],"affiliations":[{"raw_affiliation_string":"Rice University, USA,","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067205988","display_name":"Lydia E. Kavraki","orcid":"https://orcid.org/0000-0003-0699-8038"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"funder","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"L. E. Kavraki","raw_affiliation_strings":["Rice University, USA,"],"affiliations":[{"raw_affiliation_string":"Rice University, USA,","institution_ids":["https://openalex.org/I74775410"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.569,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.551782,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":83,"max":84},"biblio":{"volume":null,"issue":null,"first_page":"4621","last_page":"4626"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9984,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/multigraph","display_name":"Multigraph","score":0.45512813},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4496008}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.727411},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6903933},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6471622},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6329597},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.63131845},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6126166},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.547026},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5185169},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.49414757},{"id":"https://openalex.org/C206588197","wikidata":"https://www.wikidata.org/wiki/Q846574","display_name":"Reuse","level":2,"score":0.4845878},{"id":"https://openalex.org/C17758045","wikidata":"https://www.wikidata.org/wiki/Q2642629","display_name":"Multigraph","level":3,"score":0.45512813},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4496008},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3561468},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34558046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33380598},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23767164},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10797119},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.074355245},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094595","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.72,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":16,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1510186039","https://openalex.org/W1521785144","https://openalex.org/W2044995998","https://openalex.org/W2075577325","https://openalex.org/W2103524001","https://openalex.org/W2110762409","https://openalex.org/W2122410182","https://openalex.org/W2128990851","https://openalex.org/W2132467020","https://openalex.org/W2134304017","https://openalex.org/W2135639338","https://openalex.org/W2141664020","https://openalex.org/W2143936212","https://openalex.org/W2611243847","https://openalex.org/W2623293810"],"related_works":["https://openalex.org/W4292862729","https://openalex.org/W3158921809","https://openalex.org/W2999143598","https://openalex.org/W2618632915","https://openalex.org/W2593985399","https://openalex.org/W2170661558","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W1980828932","https://openalex.org/W1904098742"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,7,41,51,61,69,109,170,188,194],"problem":[4,38],"of":[5,9,43,60,108,166,203],"computing":[6],"sequence":[8],"motion":[10,46,70,113,175],"plans":[11,114],"necessary":[12],"for":[13],"a":[14,19,44,106,185],"mobile":[15,98],"manipulator":[16],"to":[17,56,68,94,127,134,155,172,191,208,214],"execute":[18],"given":[20],"task.":[21],"In":[22,73],"our":[23],"previous":[24],"work,":[25],"we":[26,76],"have":[27],"demonstrated":[28],"that":[29,54,82,103,138,218],"computational":[30],"advantages":[31],"can":[32,115,152],"be":[33,95,116,128,153],"obtained":[34],"when":[35,139,212],"solving":[36],"this":[37,66,74],"by":[39,97],"using":[40],"notion":[42],"task":[45],"multigraph":[47],"(TMM).":[48],"TMMs":[49,85],"represent":[50],"state":[52,89,121,197],"spaces":[53,90,151],"correspond":[55],"various":[57],"hardware":[58,111],"components":[59],"robot,":[62],"and":[63,78,86,132,205],"they":[64],"convey":[65],"information":[67,145,167],"planning":[71,140,183,192],"level.":[72],"paper,":[75],"present":[77],"evaluate":[79],"an":[80,215],"algorithm":[81,189],"further":[83],"exploits":[84],"explores":[87],"multiple":[88],"simultaneously.":[91],"Since":[92],"tasks":[93],"performed":[96],"manipulators":[99],"often":[100],"allow":[101],"solutions":[102,125,157,178,206],"use":[104],"only":[105],"subset":[107],"robot's":[110,195],"components,":[112],"found":[117,181],"in":[118,158,184,193],"lower":[119,149],"dimensional":[120,150,160],"spaces.":[122],"The":[123,164],"resulting":[124],"tend":[126],"shorter,":[129],"more":[130],"natural":[131],"faster":[133],"compute.":[135],"We":[136],"show":[137],"under":[141],"geometric":[142],"constraints":[143],"only,":[144],"gained":[146],"while":[147,182],"exploring":[148],"reused":[154],"obtain":[156],"higher":[159],"spaces,":[161],"if":[162],"necessary.":[163],"reuse":[165],"implicitly":[168],"provides":[169],"ability":[171],"compute":[173],"decoupled":[174,186],"plans.":[176],"If":[177],"are":[179],"not":[180,220],"fashion,":[187],"resorts":[190],"full":[196],"space.":[198],"Our":[199],"experiments":[200],"indicate":[201],"speedups":[202],"200%":[204],"up":[207],"four":[209],"times":[210],"shorter":[211],"compared":[213],"analogous":[216],"approach":[217],"does":[219],"employ":[221],"TMMs.":[222]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2101931708","counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-04-18T02:33:39.642518","created_date":"2016-06-24"}