{"id":"https://openalex.org/W4221150146","doi":"https://doi.org/10.1007/978-3-031-21090-7_29","title":"GOMP-ST: Grasp Optimized Motion Planning for Suction Transport","display_name":"GOMP-ST: Grasp Optimized Motion Planning for Suction Transport","publication_year":2022,"publication_date":"2022-12-14","ids":{"openalex":"https://openalex.org/W4221150146","doi":"https://doi.org/10.1007/978-3-031-21090-7_29"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-031-21090-7_29","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-031-21090-7_29","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"},"type":"book-chapter","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/A5061753410","display_name":"Yahav Avigal","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yahav Avigal","raw_affiliation_strings":["University of California, Berkeley, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005587345","display_name":"Jeffrey Ichnowski","orcid":"https://orcid.org/0000-0003-4874-9478"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeffrey Ichnowski","raw_affiliation_strings":["University of California, Berkeley, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027174220","display_name":"Max Yiye Cao","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Max Yiye Cao","raw_affiliation_strings":["University of California, Berkeley, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010019244","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0001-6747-9499"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["University of California, Berkeley, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5061753410"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":5.1004,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.95997418,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"488","last_page":"505"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/suction","display_name":"Suction","score":0.7324896454811096},{"id":"https://openalex.org/keywords/suction-cup","display_name":"Suction cup","score":0.6479219794273376},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6459980010986328},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5555343627929688},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5092335939407349},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4875773787498474},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.47541552782058716},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3613009452819824},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2918083071708679},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26532185077667236}],"concepts":[{"id":"https://openalex.org/C23795335","wikidata":"https://www.wikidata.org/wiki/Q1790295","display_name":"Suction","level":2,"score":0.7324896454811096},{"id":"https://openalex.org/C87321777","wikidata":"https://www.wikidata.org/wiki/Q635971","display_name":"Suction cup","level":2,"score":0.6479219794273376},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6459980010986328},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5555343627929688},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5092335939407349},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4875773787498474},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47541552782058716},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3613009452819824},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2918083071708679},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26532185077667236},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-031-21090-7_29","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-031-21090-7_29","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.5699999928474426,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W61873113","https://openalex.org/W127277165","https://openalex.org/W1793265611","https://openalex.org/W1966552874","https://openalex.org/W1976935191","https://openalex.org/W2018481305","https://openalex.org/W2019965290","https://openalex.org/W2054438755","https://openalex.org/W2099893201","https://openalex.org/W2108234997","https://openalex.org/W2124075156","https://openalex.org/W2128990851","https://openalex.org/W2212932033","https://openalex.org/W2232834753","https://openalex.org/W2293883387","https://openalex.org/W2294982174","https://openalex.org/W2597681922","https://openalex.org/W2624940943","https://openalex.org/W2789539638","https://openalex.org/W2790167826","https://openalex.org/W2806039192","https://openalex.org/W2963092423","https://openalex.org/W2964239605","https://openalex.org/W2966982786","https://openalex.org/W2989967279","https://openalex.org/W3090993660","https://openalex.org/W3104733355","https://openalex.org/W3130633756","https://openalex.org/W3134774145","https://openalex.org/W3157826612","https://openalex.org/W3174299515","https://openalex.org/W3207732271","https://openalex.org/W3210637564","https://openalex.org/W6713835854"],"related_works":["https://openalex.org/W2095492957","https://openalex.org/W4312555732","https://openalex.org/W4237408708","https://openalex.org/W2052350261","https://openalex.org/W127711702","https://openalex.org/W2567010246","https://openalex.org/W2010352328","https://openalex.org/W2565784133","https://openalex.org/W4224786593","https://openalex.org/W2299427626"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}