{"id":"https://openalex.org/W2132862836","doi":"https://doi.org/10.1017/s0263574704000062","title":"A novel potential-based path planning of 3-D articulated robots with moving bases","display_name":"A novel potential-based path planning of 3-D articulated robots with moving bases","publication_year":2004,"publication_date":"2004-07-12","ids":{"openalex":"https://openalex.org/W2132862836","doi":"https://doi.org/10.1017/s0263574704000062","mag":"2132862836"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574704000062","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574704000062","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5101674141","display_name":"Chien-Chou Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chien-Chou Lin","raw_affiliation_strings":["Department of Computer and Information Science, National Chiao Tung University, Hsinchu, 30010, Taiwan (ROC) E-mail","Department of Computer and Information Science, National Chiao Tung University, Hsinchu, 30010, Taiwan (ROC) E-mail jeremylin@cis.nctu.edu.tw.#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, National Chiao Tung University, Hsinchu, 30010, Taiwan (ROC) E-mail","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"Department of Computer and Information Science, National Chiao Tung University, Hsinchu, 30010, Taiwan (ROC) E-mail jeremylin@cis.nctu.edu.tw.#TAB#","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074955847","display_name":"Chi-Chun Pan","orcid":null},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chi-Chun Pan","raw_affiliation_strings":["Department of Computer and Information Science, National Chiao Tung University, Hsinchu, 30010, Taiwan (ROC) E-mail","Department of Computer and Information Science, National Chiao Tung University, Hsinchu, 30010, Taiwan (ROC) E-mail jeremylin@cis.nctu.edu.tw.#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, National Chiao Tung University, Hsinchu, 30010, Taiwan (ROC) E-mail","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"Department of Computer and Information Science, National Chiao Tung University, Hsinchu, 30010, Taiwan (ROC) E-mail jeremylin@cis.nctu.edu.tw.#TAB#","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069670059","display_name":"Jen\u2010Hui Chuang","orcid":"https://orcid.org/0000-0002-4934-4811"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jen-Hui Chuang","raw_affiliation_strings":["Department of Computer and Information Science, National Chiao Tung University, Hsinchu, 30010, Taiwan (ROC) E-mail","Department of Computer and Information Science, National Chiao Tung University, Hsinchu, 30010, Taiwan (ROC) E-mail jeremylin@cis.nctu.edu.tw.#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, National Chiao Tung University, Hsinchu, 30010, Taiwan (ROC) E-mail","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"Department of Computer and Information Science, National Chiao Tung University, Hsinchu, 30010, Taiwan (ROC) E-mail jeremylin@cis.nctu.edu.tw.#TAB#","institution_ids":["https://openalex.org/I148366613"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I148366613"],"apc_list":null,"apc_paid":null,"fwci":0.8157,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.75882082,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"22","issue":"4","first_page":"359","last_page":"367"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9987999796867371,"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/computation","display_name":"Computation","score":0.8217685222625732},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7995840311050415},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6732094883918762},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6544201374053955},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5973564982414246},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5566533207893372},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.5143166780471802},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.509594202041626},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.4789177179336548},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.46178796887397766},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.44816893339157104},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4071621298789978},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.364006906747818},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3604072630405426},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23210373520851135},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11933612823486328}],"concepts":[{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.8217685222625732},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7995840311050415},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6732094883918762},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6544201374053955},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5973564982414246},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5566533207893372},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.5143166780471802},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.509594202041626},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.4789177179336548},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.46178796887397766},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.44816893339157104},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4071621298789978},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.364006906747818},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3604072630405426},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23210373520851135},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11933612823486328},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574704000062","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574704000062","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1769585818","https://openalex.org/W1978301848","https://openalex.org/W2037907469","https://openalex.org/W2049232803","https://openalex.org/W2051626883","https://openalex.org/W2077091230","https://openalex.org/W2095989672","https://openalex.org/W2103120971","https://openalex.org/W2121310815","https://openalex.org/W2125973284","https://openalex.org/W2128990851","https://openalex.org/W2135553889","https://openalex.org/W2138132024","https://openalex.org/W2141279501","https://openalex.org/W2150500908","https://openalex.org/W2153612202","https://openalex.org/W2160185977","https://openalex.org/W2160728037","https://openalex.org/W2162998120","https://openalex.org/W2167084044","https://openalex.org/W2304832331","https://openalex.org/W3146880392"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408","https://openalex.org/W1965569281","https://openalex.org/W2062919732","https://openalex.org/W2573269332","https://openalex.org/W2546046681","https://openalex.org/W2893406334","https://openalex.org/W4381746183"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,17,79],"novel":[4],"path":[5,40],"planning":[6,81],"algorithm":[7,91],"of":[8,96],"3-D":[9],"articulated":[10],"robots":[11],"with":[12],"moving":[13],"bases":[14],"based":[15],"on":[16],"generalized":[18],"potential":[19,54,68],"field":[20],"model.":[21],"The":[22,61],"approach":[23,63],"computes,":[24],"similar":[25],"to":[26,50,75],"that":[27,88],"done":[28],"in":[29,94],"electrostatics,":[30],"repulsive":[31],"forces":[32,58],"and":[33,59,99],"torques":[34],"between":[35],"charged":[36],"objects.":[37],"A":[38],"collision-free":[39],"can":[41],"be":[42],"obtained":[43],"by":[44],"locally":[45],"adjusting":[46],"the":[47,77,89],"robot":[48],"configuration":[49],"search":[51],"for":[52],"minimum":[53],"configurations":[55],"using":[56],"these":[57,67],"torques.":[60],"proposed":[62,90],"is":[64,83],"efficient":[65],"since":[66],"gradients":[69],"are":[70],"analytically":[71],"tractable.":[72],"In":[73],"order":[74],"speedup":[76],"computation,":[78],"sequential":[80],"strategy":[82],"adopted.":[84],"Simulation":[85],"results":[86],"show":[87],"works":[92],"well,":[93],"terms":[95],"collision":[97],"avoidance":[98],"computation":[100],"efficiency.":[101]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}