{"id":"https://openalex.org/W2958772903","doi":"https://doi.org/10.1017/s0263574719001103","title":"Motion Planning for Deformable Linear Objects Under Multiple Constraints","display_name":"Motion Planning for Deformable Linear Objects Under Multiple Constraints","publication_year":2019,"publication_date":"2019-07-12","ids":{"openalex":"https://openalex.org/W2958772903","doi":"https://doi.org/10.1017/s0263574719001103","mag":"2958772903"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574719001103","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719001103","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/A5042020913","display_name":"Jiangtao Ma","orcid":"https://orcid.org/0000-0001-5181-4045"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangtao Ma","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100405327","display_name":"Jianhua Liu","orcid":"https://orcid.org/0000-0002-4881-2193"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Liu","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082192250","display_name":"Xiaoyu Ding","orcid":"https://orcid.org/0000-0002-2998-8900"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaoyu Ding","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing100081, China"],"raw_orcid":"https://orcid.org/0000-0002-2998-8900","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042215941","display_name":"Naijing Lv","orcid":"https://orcid.org/0000-0002-8410-3343"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Naijing Lv","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing100081, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5082192250"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.5754,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.64610776,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"38","issue":"5","first_page":"819","last_page":"830"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9973999857902527,"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/motion-planning","display_name":"Motion planning","score":0.7554941177368164},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6854103207588196},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6760979890823364},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6489399075508118},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.519504189491272},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.46776434779167175},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4532141089439392},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4494941234588623},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4065156579017639},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3984667956829071},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3745102882385254},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1853799819946289},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09796294569969177}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7554941177368164},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6854103207588196},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6760979890823364},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6489399075508118},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.519504189491272},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.46776434779167175},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4532141089439392},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4494941234588623},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4065156579017639},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3984667956829071},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3745102882385254},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1853799819946289},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09796294569969177},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574719001103","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719001103","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":[{"display_name":"Sustainable cities and communities","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1144696456","https://openalex.org/W1481925965","https://openalex.org/W1964359378","https://openalex.org/W1984855521","https://openalex.org/W2006104867","https://openalex.org/W2007243548","https://openalex.org/W2009783513","https://openalex.org/W2013724094","https://openalex.org/W2023879950","https://openalex.org/W2037162618","https://openalex.org/W2044055241","https://openalex.org/W2076133537","https://openalex.org/W2083331227","https://openalex.org/W2101073745","https://openalex.org/W2115192598","https://openalex.org/W2117942114","https://openalex.org/W2125035363","https://openalex.org/W2127199521","https://openalex.org/W2142156433","https://openalex.org/W2142400660","https://openalex.org/W2151179212","https://openalex.org/W2168430074","https://openalex.org/W2171666907","https://openalex.org/W2279517888","https://openalex.org/W2322951925","https://openalex.org/W2730107603","https://openalex.org/W2763039079","https://openalex.org/W2774649396","https://openalex.org/W2790283437","https://openalex.org/W6627266928"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W3154539612","https://openalex.org/W2134215012"],"abstract_inverted_index":{"SUMMARY":[0],"Deformable":[1],"linear":[2],"objects":[3],"(DLOs)":[4],"have":[5],"a":[6,12,53,130,194,204,207],"wide":[7],"variety":[8],"of":[9,14,27,44,60,86,89,121,154,170,197],"applications":[10],"in":[11,25,31,41,47],"range":[13],"fields.":[15],"Their":[16],"key":[17],"characteristic":[18],"is":[19,38,65,79,158,162],"that":[20,76,174],"they":[21],"extend":[22],"much":[23],"further":[24],"one":[26,96],"their":[28,124],"dimensions":[29],"than":[30],"the":[32,42,58,77,87,90,141,146,155,175,198],"other":[33],"two.":[34],"Accurate":[35],"motion":[36,88,153,178],"planning":[37,57,179],"particularly":[39],"important":[40],"case":[43,195],"DLOs":[45,61,107,186],"used":[46,137],"robotics":[48],"applications.":[49],"In":[50],"this":[51],"paper,":[52],"new":[54],"strategy":[55,180,199],"for":[56,140],"motions":[59],"under":[62],"multiple":[63],"constraints":[64],"proposed.":[66],"The":[67,84,118,152],"DLO":[68,91,147,157,177,205],"was":[69,92,136,200],"modeled":[70],"as":[71,160],"Cosserat":[72],"elastic":[73],"rods":[74],"so":[75],"deformation":[78],"simulated":[80,156],"accurately":[81],"and":[82,112,123,128,167],"efficiently.":[83],"control":[85],"enhanced":[93],"by":[94],"supplementing":[95],"gripper":[97],"installed":[98],"at":[99],"each":[100],"end":[101],"with":[102,192],"additional":[103],"supports.":[104,171],"This":[105],"allows":[106],"to":[108,138,144],"undergo":[109],"complex":[110,188],"deformations,":[111],"thus":[113],"avoid":[114],"collisions":[115],"during":[116],"motion.":[117],"appropriate":[119],"number":[120],"supports":[122],"positions":[125],"were":[126],"determined,":[127],"then":[129],"rapidly":[131],"exploring":[132],"random":[133],"tree":[134],"algorithm":[135],"search":[139],"best":[142],"path":[143],"guide":[145,183],"toward":[148],"its":[149],"target":[150],"destination.":[151],"described":[159],"it":[161],"controlled":[163],"using":[164],"two":[165],"grippers":[166],"specific":[168],"numbers":[169],"To":[172],"prove":[173],"proposed":[176],"can":[181],"successfully":[182],"relatively":[184],"long":[185],"through":[187,206],"environments":[189],"without":[190],"colliding":[191],"obstacles,":[193],"study":[196],"conducted":[201],"when":[202],"guiding":[203],"puzzle.":[208]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
