{"id":"https://openalex.org/W69260380","doi":null,"title":"Using Gaussian process regression for efficient motion planning in environments with deformable objects","display_name":"Using Gaussian process regression for efficient motion planning in environments with deformable objects","publication_year":2011,"publication_date":"2011-01-01","ids":{"openalex":"https://openalex.org/W69260380","mag":"69260380"},"language":"en","primary_location":{"id":"pmh:oai:CiteSeerX.psu:10.1.1.233.3761","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.233.3761","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/%7Estachnis/pdf/frank11pamr.pdf","raw_type":"text"},"volume":null,"type":"article","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Barbara Frank","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Barbara Frank","raw_affiliation_strings":["Institute of Computer Science, Autonomous Intelligent Systems, Freiburg, Germany#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science, Autonomous Intelligent Systems, Freiburg, Germany#TAB#","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972","observed_orcids":["https://orcid.org/0000-0003-1173-6972"]},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["Institute of Computer Science, Autonomous Intelligent Systems, Freiburg, Germany#TAB#"],"raw_orcid":"https://orcid.org/0000-0003-1173-6972","affiliations":[{"raw_affiliation_string":"Institute of Computer Science, Autonomous Intelligent Systems, Freiburg, Germany#TAB#","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028710264","display_name":"Nichola Abdo","orcid":"https://orcid.org/0000-0003-3060-9768","observed_orcids":["https://orcid.org/0000-0003-3060-9768"]},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nichola Abdo","raw_affiliation_strings":["Institute of Computer Science, Autonomous Intelligent Systems, Freiburg, Germany#TAB#"],"raw_orcid":"https://orcid.org/0000-0003-3060-9768","affiliations":[{"raw_affiliation_string":"Institute of Computer Science, Autonomous Intelligent Systems, Freiburg, Germany#TAB#","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500","observed_orcids":["https://orcid.org/0000-0002-5680-6500"]},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Institute of Computer Science, Autonomous Intelligent Systems, Freiburg, Germany#TAB#"],"raw_orcid":"https://orcid.org/0000-0002-5680-6500","affiliations":[{"raw_affiliation_string":"Institute of Computer Science, Autonomous Intelligent Systems, Freiburg, Germany#TAB#","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":1.2587,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.82747108,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9429000020027161,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9429000020027161,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.025499999523162842,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.008299999870359898,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"motion planning","score":0.7879999876022339},{"id":"https://openalex.org/keywords/deformable-bodies","display_name":"deformable objects","score":0.9589999914169312},{"id":"https://openalex.org/keywords/gaussian-process-regression","display_name":"Gaussian process regression","score":0.9769999980926514},{"id":"https://openalex.org/keywords/mobile-manipulators","display_name":"mobile manipulators","score":0.7440000176429749},{"id":"https://openalex.org/keywords/deformation-simulation","display_name":"deformation simulation","score":0.7889999747276306},{"id":"https://openalex.org/keywords/autonomous-robots","display_name":"autonomous robots","score":0.6209999918937683}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7029727101325989},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6710824966430664},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.6524304151535034},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5782083868980408},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5688267946243286},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.5348607301712036},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5246382355690002},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.49580416083335876},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48297587037086487},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45442628860473633},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.41803276538848877},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.31065213680267334},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.28086036443710327},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21921423077583313},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:CiteSeerX.psu:10.1.1.233.3761","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.233.3761","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/%7Estachnis/pdf/frank11pamr.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.307.279","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.307.279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.aaai.org/ocs/index.php/WS/AAAIW11/paper/viewFile/3822/4228/","raw_type":"text"},{"id":"mag:69260380","doi":null,"is_oa":false,"landing_page_url":"http://ais.informatik.uni-freiburg.de/publications/papers/frank11pamr.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306420577","display_name":"National Conference on Artificial Intelligence","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"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,"raw_source_name":"National Conference on Artificial Intelligence","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1561021726","https://openalex.org/W1604206505","https://openalex.org/W1746819321","https://openalex.org/W2007692097","https://openalex.org/W2045448547","https://openalex.org/W2089630413","https://openalex.org/W2116039148","https://openalex.org/W2116162693","https://openalex.org/W2124140750","https://openalex.org/W2128978595","https://openalex.org/W2128990851","https://openalex.org/W2129298951","https://openalex.org/W2129880109","https://openalex.org/W2135521054","https://openalex.org/W2139329929","https://openalex.org/W2157979562"],"related_works":["https://openalex.org/W2124457362","https://openalex.org/W3146769222","https://openalex.org/W7006247525","https://openalex.org/W2163471386","https://openalex.org/W7100885814","https://openalex.org/W2116039148","https://openalex.org/W7100654519","https://openalex.org/W2128978595","https://openalex.org/W2007724192","https://openalex.org/W60960625"],"abstract_inverted_index":{"The":[0],"ability":[1],"to":[2,8,72,124,136,150],"plan":[3],"their":[4],"own":[5],"motions":[6],"and":[7,107,127],"reliably":[9],"execute":[10],"them":[11],"is":[12,60,122,146],"an":[13,65],"important":[14],"precondition":[15],"for":[16,77],"autonomous":[17],"robots.":[18],"In":[19],"this":[20],"paper,":[21],"we":[22,63],"consider":[23,129],"the":[24,28,36,42,56,74,86,120,130,137,143],"problem":[25],"of":[26,30,38,68],"planning":[27,49],"motion":[29,140],"a":[31,51,91,95,112,151],"mobile":[32,113],"manipulation":[33,114],"robot":[34,121],"in":[35,41,94],"presence":[37],"deformable":[39],"objects":[40,79],"environment.":[43],"Our":[44,116],"approach":[45,110],"combines":[46],"probabilistic":[47],"roadmap":[48],"with":[50],"deformation":[52,58,75,131],"simulation":[53,59,92],"system.":[54],"Since":[55],"physical":[57,155],"computationally":[61],"demanding,":[62],"use":[64],"efficient":[66],"variant":[67],"Gaussian":[69],"process":[70],"regression":[71],"estimate":[73],"cost":[76,132],"individual":[78],"based":[80],"on":[81,111],"training":[82,87],"examples.":[83],"We":[84,105],"generate":[85],"data":[88],"by":[89],"employing":[90],"system":[93,152],"preprocessing":[96],"step.":[97],"Consequently,":[98],"no":[99],"simulations":[100,156],"are":[101],"needed":[102],"during":[103,139],"runtime.":[104],"implemented":[106],"tested":[108],"our":[109],"robot.":[115],"experiments":[117],"show":[118],"that":[119,153],"able":[123],"accurately":[125],"predict":[126],"thus":[128],"its":[133],"manipulator":[134],"introduces":[135],"environment":[138],"planning.":[141],"Simultaneously,":[142],"computation":[144],"time":[145],"substantially":[147],"reduced":[148],"compared":[149],"performs":[154],"online.":[157],"1":[158]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2016-06-24T00:00:00"}