{"id":"https://openalex.org/W2963146864","doi":"https://doi.org/10.1017/s0263574719001176","title":"Point-to-Point Motion Planning of a Free-Floating Space Manipulator Using the Rapidly-Exploring Random Trees (RRT) Method","display_name":"Point-to-Point Motion Planning of a Free-Floating Space Manipulator Using the Rapidly-Exploring Random Trees (RRT) Method","publication_year":2019,"publication_date":"2019-07-24","ids":{"openalex":"https://openalex.org/W2963146864","doi":"https://doi.org/10.1017/s0263574719001176","mag":"2963146864"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574719001176","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719001176","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/A5029760314","display_name":"Tomasz Rybus","orcid":"https://orcid.org/0000-0002-7957-5346"},"institutions":[{"id":"https://openalex.org/I11923345","display_name":"Wroc\u0142aw University of Science and Technology","ror":"https://ror.org/008fyn775","country_code":"PL","type":"education","lineage":["https://openalex.org/I11923345"]},{"id":"https://openalex.org/I122697084","display_name":"Centrum Bada\u0144 Kosmicznych","ror":"https://ror.org/03zm2br59","country_code":"PL","type":"facility","lineage":["https://openalex.org/I122697084","https://openalex.org/I99542240"]},{"id":"https://openalex.org/I686019","display_name":"AGH University of Krakow","ror":"https://ror.org/00bas1c41","country_code":"PL","type":"education","lineage":["https://openalex.org/I686019"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Tomasz Rybus","raw_affiliation_strings":["Electronics Faculty, Wroc\u0142aw University of Science and Technology, Janiszewskiego 11/17, 50-372 Wroc\u0142aw, Poland and Space Mechatronics and Robotics Laboratory, Space Research Centre (CBK PAN), Bartycka 18a, 00-716 Warsaw, Poland"],"raw_orcid":"https://orcid.org/0000-0002-7957-5346","affiliations":[{"raw_affiliation_string":"Electronics Faculty, Wroc\u0142aw University of Science and Technology, Janiszewskiego 11/17, 50-372 Wroc\u0142aw, Poland and Space Mechatronics and Robotics Laboratory, Space Research Centre (CBK PAN), Bartycka 18a, 00-716 Warsaw, Poland","institution_ids":["https://openalex.org/I11923345","https://openalex.org/I686019","https://openalex.org/I122697084"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5029760314"],"corresponding_institution_ids":["https://openalex.org/I11923345","https://openalex.org/I122697084","https://openalex.org/I686019"],"apc_list":null,"apc_paid":null,"fwci":27.5711,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.99123832,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"38","issue":"6","first_page":"957","last_page":"982"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9918000102043152,"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/T10325","display_name":"Astro and Planetary Science","score":0.9879000186920166,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6727389097213745},{"id":"https://openalex.org/keywords/satellite","display_name":"Satellite","score":0.6699403524398804},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6521172523498535},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6010782122612},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5569818615913391},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5195913314819336},{"id":"https://openalex.org/keywords/orbit","display_name":"Orbit (dynamics)","score":0.5057287216186523},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4866969883441925},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4421716332435608},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43629810214042664},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42188674211502075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32087868452072144},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.26130664348602295},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23453330993652344},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23428070545196533},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2259075939655304},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1966322660446167},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09036251902580261},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07523095607757568}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6727389097213745},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.6699403524398804},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6521172523498535},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6010782122612},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5569818615913391},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5195913314819336},{"id":"https://openalex.org/C196644772","wikidata":"https://www.wikidata.org/wiki/Q3884964","display_name":"Orbit (dynamics)","level":2,"score":0.5057287216186523},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4866969883441925},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4421716332435608},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43629810214042664},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42188674211502075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32087868452072144},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.26130664348602295},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23453330993652344},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23428070545196533},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2259075939655304},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1966322660446167},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09036251902580261},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07523095607757568},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574719001176","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719001176","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W115927034","https://openalex.org/W1100725958","https://openalex.org/W1506471051","https://openalex.org/W1542250595","https://openalex.org/W1564741413","https://openalex.org/W1571762800","https://openalex.org/W1607696993","https://openalex.org/W1759513145","https://openalex.org/W1967923823","https://openalex.org/W1970955817","https://openalex.org/W1972744972","https://openalex.org/W1976747304","https://openalex.org/W1991361858","https://openalex.org/W1996743575","https://openalex.org/W2000359213","https://openalex.org/W2025813574","https://openalex.org/W2030474828","https://openalex.org/W2040693504","https://openalex.org/W2041287270","https://openalex.org/W2048248924","https://openalex.org/W2051626883","https://openalex.org/W2066534611","https://openalex.org/W2075907711","https://openalex.org/W2090308161","https://openalex.org/W2096948547","https://openalex.org/W2099442362","https://openalex.org/W2103120971","https://openalex.org/W2103141715","https://openalex.org/W2105229687","https://openalex.org/W2112096282","https://openalex.org/W2112363681","https://openalex.org/W2120057245","https://openalex.org/W2125097269","https://openalex.org/W2134447392","https://openalex.org/W2137461024","https://openalex.org/W2140212156","https://openalex.org/W2145484321","https://openalex.org/W2162843169","https://openalex.org/W2163921611","https://openalex.org/W2163949987","https://openalex.org/W2164528954","https://openalex.org/W2179186822","https://openalex.org/W2276956711","https://openalex.org/W2292618681","https://openalex.org/W2318262841","https://openalex.org/W2324992258","https://openalex.org/W2325719739","https://openalex.org/W2344015133","https://openalex.org/W2461482723","https://openalex.org/W2467411458","https://openalex.org/W2471198241","https://openalex.org/W2500092756","https://openalex.org/W2540027626","https://openalex.org/W2557741120","https://openalex.org/W2560218933","https://openalex.org/W2590106885","https://openalex.org/W2607300297","https://openalex.org/W2871521774","https://openalex.org/W2887793319","https://openalex.org/W2902353295","https://openalex.org/W3173190547","https://openalex.org/W3210751874","https://openalex.org/W4232097448","https://openalex.org/W4256673617","https://openalex.org/W6730308440"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W4389893327"],"abstract_inverted_index":{"SUMMARY":[0],"It":[1],"is":[2,33,137,152],"usually":[3],"proposed":[4,135],"to":[5,76,85,89,117,181],"use":[6,77],"a":[7,15,67,72,91,103,129,155],"robotic":[8],"manipulator":[9,39,69,93,126],"for":[10,52,125,143],"performing":[11],"on-orbit":[12,25],"capture":[13,54],"of":[14,29,37,44,66,106,121,133,158,187],"target":[16],"satellite":[17,109,151],"in":[18,102,115,139,147],"the":[19,30,38,45,49,53,64,78,97,107,118,122,134,144,149,169,183,188],"planned":[20],"active":[21],"debris":[22],"removal":[23],"and":[24,42,166],"servicing":[26],"missions.":[27],"Control":[28],"satellite-manipulator":[31],"system":[32],"challenging":[34],"because":[35],"motion":[36],"influences":[40],"position":[41],"orientation":[43,186],"chaser":[46,108,150,189],"satellite.":[47,131,190],"Moreover,":[48],"trajectory":[50,94,174],"selected":[51],"manoeuvre":[55],"must":[56],"be":[57],"collision-free.":[58],"In":[59],"this":[60],"article,":[61],"we":[62],"consider":[63],"case":[65,146],"nonredundant":[68],"mounted":[70,127],"on":[71,128],"free-floating":[73,130],"satellite.We":[74],"propose":[75],"bi-directional":[79],"rapidly-exploring":[80],"random":[81],"trees":[82],"(RRT)":[83],"algorithm":[84],"achieve":[86],"two":[87],"purposes:":[88],"plan":[90],"collision-free":[92,173],"that,":[95],"at":[96],"same":[98],"time,":[99],"will":[100],"result":[101],"desired":[104,184],"change":[105],"orientation.":[110],"Several":[111],"improvements":[112],"are":[113,164],"introduced":[114],"comparison":[116],"previous":[119],"applications":[120],"RRT":[123],"method":[124],"Feasibility":[132],"approach":[136],"demonstrated":[138],"numerical":[140],"simulations":[141],"performed":[142],"planar":[145],"which":[148],"equipped":[153],"with":[154,168],"2-DoF":[156],"(Degree":[157],"Freedom)":[159],"manipulator.":[160],"The":[161],"obtained":[162,171],"results":[163,170],"analysed":[165],"compared":[167],"from":[172],"planning":[175],"methods":[176],"that":[177],"do":[178],"not":[179],"allow":[180],"set":[182],"final":[185]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}