{"id":"https://openalex.org/W2086807633","doi":"https://doi.org/10.1007/s004539910025","title":"A General Framework for Assembly Planning: The Motion Space Approach","display_name":"A General Framework for Assembly Planning: The Motion Space Approach","publication_year":2000,"publication_date":"2000-03-01","ids":{"openalex":"https://openalex.org/W2086807633","doi":"https://doi.org/10.1007/s004539910025","mag":"2086807633"},"language":"en","primary_location":{"id":"doi:10.1007/s004539910025","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s004539910025","pdf_url":null,"source":{"id":"https://openalex.org/S89324355","display_name":"Algorithmica","issn_l":"0178-4617","issn":["0178-4617","1432-0541"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithmica","raw_type":"journal-article"},"type":"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/A5038503253","display_name":"Dan Halperin","orcid":"https://orcid.org/0000-0002-3345-3765"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"D. Halperin","raw_affiliation_strings":["Department of Computer Science, Tel Aviv University, Tel Aviv 69978, Israel. halperin@math.tau.ac.il., , , , , , IL","Department of Computer Science, Tel Aviv University, Tel Aviv 69978, Israel. halperin@math.tau.ac.il., , IL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Tel Aviv University, Tel Aviv 69978, Israel. halperin@math.tau.ac.il., , , , , , IL","institution_ids":["https://openalex.org/I16391192"]},{"raw_affiliation_string":"Department of Computer Science, Tel Aviv University, Tel Aviv 69978, Israel. halperin@math.tau.ac.il., , IL","institution_ids":["https://openalex.org/I16391192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113658744","display_name":"J.-C. Latombe","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.-C. Latombe","raw_affiliation_strings":["Department of Computer Science, Stanford University, Stanford, CA 94305, USA. latombe@cs.stanford.edu., , , , , , US","Department of Computer Science, Stanford University, Stanford, CA 94305, USA. latombe@cs.stanford.edu., , US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford, CA 94305, USA. latombe@cs.stanford.edu., , , , , , US","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford, CA 94305, USA. latombe@cs.stanford.edu., , US","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002270614","display_name":"R.H. Wilson","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159451","display_name":"Kodak (United States)","ror":"https://ror.org/04rn3ph18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210159451"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. H. Wilson","raw_affiliation_strings":["Eastman Kodak Company, Albuquerque, NM 87112-1881, USA. rwilson@kodak.com., , , , , , US","Eastman Kodak Company, Albuquerque, NM 87112-1881, USA. rwilson@kodak.com., US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eastman Kodak Company, Albuquerque, NM 87112-1881, USA. rwilson@kodak.com., , , , , , US","institution_ids":["https://openalex.org/I4210159451"]},{"raw_affiliation_string":"Eastman Kodak Company, Albuquerque, NM 87112-1881, USA. rwilson@kodak.com., US","institution_ids":["https://openalex.org/I4210159451"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2290,"currency":"EUR","value_usd":2890},"apc_paid":null,"fwci":15.4886,"has_fulltext":false,"cited_by_count":153,"citation_normalized_percentile":{"value":0.9911669,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"26","issue":"3-4","first_page":"577","last_page":"601"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.9983999729156494,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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","display_name":"Motion (physics)","score":0.7249525785446167},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.713717520236969},{"id":"https://openalex.org/keywords/blocking","display_name":"Blocking (statistics)","score":0.6141160726547241},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5647870898246765},{"id":"https://openalex.org/keywords/infinitesimal","display_name":"Infinitesimal","score":0.5363895297050476},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.523473858833313},{"id":"https://openalex.org/keywords/theory-of-computation","display_name":"Theory of computation","score":0.5122432112693787},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4919554889202118},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.45733457803726196},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.43591511249542236},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4291980564594269},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41850218176841736},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.41601473093032837},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3837518095970154},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37111860513687134},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3262213468551636},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2743234932422638},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2322608232498169},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.17414414882659912},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.1559334397315979},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13635647296905518},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09399563074111938}],"concepts":[{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.7249525785446167},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.713717520236969},{"id":"https://openalex.org/C144745244","wikidata":"https://www.wikidata.org/wiki/Q4927286","display_name":"Blocking (statistics)","level":2,"score":0.6141160726547241},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5647870898246765},{"id":"https://openalex.org/C91229774","wikidata":"https://www.wikidata.org/wiki/Q193885","display_name":"Infinitesimal","level":2,"score":0.5363895297050476},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.523473858833313},{"id":"https://openalex.org/C24858836","wikidata":"https://www.wikidata.org/wiki/Q844718","display_name":"Theory of computation","level":2,"score":0.5122432112693787},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4919554889202118},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.45733457803726196},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43591511249542236},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4291980564594269},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41850218176841736},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.41601473093032837},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3837518095970154},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37111860513687134},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3262213468551636},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2743234932422638},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2322608232498169},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.17414414882659912},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.1559334397315979},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13635647296905518},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09399563074111938},{"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1007/s004539910025","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s004539910025","pdf_url":null,"source":{"id":"https://openalex.org/S89324355","display_name":"Algorithmica","issn_l":"0178-4617","issn":["0178-4617","1432-0541"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithmica","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.48.1564","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.48.1564","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robotics.stanford.edu/~latombe/papers/socg98/paper.ps","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.50.4931","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.50.4931","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robotics.stanford.edu/~latombe/papers/algorithmica/motion-space/paper.ps.gz","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.51.9472","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.51.9472","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.math.tau.ac.il/~halperin/papers/assurv.ps.gz","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"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":43,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1208014748","https://openalex.org/W1517306164","https://openalex.org/W1521252151","https://openalex.org/W1576387940","https://openalex.org/W1584600827","https://openalex.org/W1585250260","https://openalex.org/W1938706397","https://openalex.org/W1938804998","https://openalex.org/W1962799780","https://openalex.org/W1965466436","https://openalex.org/W1969196471","https://openalex.org/W1977624662","https://openalex.org/W1981295470","https://openalex.org/W1984529618","https://openalex.org/W1993028096","https://openalex.org/W1993965377","https://openalex.org/W2005314985","https://openalex.org/W2022266599","https://openalex.org/W2024843086","https://openalex.org/W2025681349","https://openalex.org/W2058931886","https://openalex.org/W2060506423","https://openalex.org/W2072406661","https://openalex.org/W2086001589","https://openalex.org/W2087890205","https://openalex.org/W2093256129","https://openalex.org/W2098926910","https://openalex.org/W2103132686","https://openalex.org/W2105168523","https://openalex.org/W2106893669","https://openalex.org/W2111726927","https://openalex.org/W2123869145","https://openalex.org/W2128990851","https://openalex.org/W2130542016","https://openalex.org/W2132153047","https://openalex.org/W2134560767","https://openalex.org/W2136320709","https://openalex.org/W2150500908","https://openalex.org/W2155975104","https://openalex.org/W2163487662","https://openalex.org/W2284224236","https://openalex.org/W3121479877"],"related_works":["https://openalex.org/W2051058708","https://openalex.org/W2370598571","https://openalex.org/W154868527","https://openalex.org/W2355499472","https://openalex.org/W1494268238","https://openalex.org/W1983207144","https://openalex.org/W2490706771","https://openalex.org/W1976468483","https://openalex.org/W2110193191","https://openalex.org/W2061178475"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
