{"id":"https://openalex.org/W4387656329","doi":"https://doi.org/10.1007/978-981-99-6492-5_42","title":"Smooth Composite-Space RRT: An Improved Motion Planner for\u00a0Manipulators Under Incomplete Orientation Constraint","display_name":"Smooth Composite-Space RRT: An Improved Motion Planner for\u00a0Manipulators Under Incomplete Orientation Constraint","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4387656329","doi":"https://doi.org/10.1007/978-981-99-6492-5_42"},"language":"en","primary_location":{"id":"doi:10.1007/978-981-99-6492-5_42","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-981-99-6492-5_42","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","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/A5051919128","display_name":"Jiangping Wang","orcid":"https://orcid.org/0000-0001-5960-1853"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiangping Wang","raw_affiliation_strings":["Intelligent Robotic Research Center, Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotic Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100341119","display_name":"Nan Li","orcid":"https://orcid.org/0000-0003-3585-2273"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Li","raw_affiliation_strings":["Intelligent Robotic Research Center, Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotic Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074371475","display_name":"Wei Song","orcid":"https://orcid.org/0000-0002-0828-7486"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Song","raw_affiliation_strings":["Intelligent Robotic Research Center, Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotic Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108064743","display_name":"Wenjuan Du","orcid":"https://orcid.org/0000-0002-2482-6742"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjuan Du","raw_affiliation_strings":["Intelligent Robotic Research Center, Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotic Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101804303","display_name":"Wenxuan Chen","orcid":"https://orcid.org/0000-0001-5358-2698"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenxuan Chen","raw_affiliation_strings":["Intelligent Robotic Research Center, Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotic Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5051919128"],"corresponding_institution_ids":["https://openalex.org/I4210123185"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39331003,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"488","last_page":"498"},"is_retracted":false,"is_paratext":false,"is_xpac":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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/computer-science","display_name":"Computer science","score":0.6579551100730896},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6450303792953491},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6224080324172974},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.566927969455719},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5171213150024414},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4779910445213318},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.45694857835769653},{"id":"https://openalex.org/keywords/composite-number","display_name":"Composite number","score":0.41461458802223206},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35951942205429077},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35355091094970703},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3146591782569885},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20114460587501526},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13246145844459534}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6579551100730896},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6450303792953491},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6224080324172974},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.566927969455719},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5171213150024414},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4779910445213318},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.45694857835769653},{"id":"https://openalex.org/C104779481","wikidata":"https://www.wikidata.org/wiki/Q50707","display_name":"Composite number","level":2,"score":0.41461458802223206},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35951942205429077},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35355091094970703},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3146591782569885},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20114460587501526},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13246145844459534},{"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:10.1007/978-981-99-6492-5_42","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-981-99-6492-5_42","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.550000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1562779067","https://openalex.org/W1967495730","https://openalex.org/W2009272203","https://openalex.org/W2022831006","https://openalex.org/W2035960400","https://openalex.org/W2070929974","https://openalex.org/W2102128251","https://openalex.org/W2110762409","https://openalex.org/W2147774191","https://openalex.org/W2158326947","https://openalex.org/W2738859796","https://openalex.org/W2786893837","https://openalex.org/W3083167872","https://openalex.org/W3118386781","https://openalex.org/W4285280812"],"related_works":["https://openalex.org/W1764572413","https://openalex.org/W2359600231","https://openalex.org/W3216757130","https://openalex.org/W2380019117","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3154539612","https://openalex.org/W2009651338"],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-01-20T17:24:06.736184","created_date":"2025-10-10T00:00:00"}
