{"id":"https://openalex.org/W4416602623","doi":"https://doi.org/10.1017/s0263574725102865","title":"A novel semi-coupled hierarchical motion planning framework for cooperative transportation of multiple mobile manipulators","display_name":"A novel semi-coupled hierarchical motion planning framework for cooperative transportation of multiple mobile manipulators","publication_year":2025,"publication_date":"2025-11-24","ids":{"openalex":"https://openalex.org/W4416602623","doi":"https://doi.org/10.1017/s0263574725102865"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725102865","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102865","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":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100373135","display_name":"Heng Zhang","orcid":"https://orcid.org/0000-0002-5712-6136"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Heng Zhang","raw_affiliation_strings":["Shanghai Jiao Tong University","School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029549346","display_name":"Haoyi Song","orcid":"https://orcid.org/0000-0002-4025-5337"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyi Song","raw_affiliation_strings":["Shanghai Jiao Tong University","School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069084257","display_name":"Wenhang Liu","orcid":"https://orcid.org/0000-0002-8028-1417"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenhang Liu","raw_affiliation_strings":["Shanghai Jiao Tong University","School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062272467","display_name":"Xinjun Sheng","orcid":"https://orcid.org/0000-0001-6124-8665"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinjun Sheng","raw_affiliation_strings":["Shanghai Jiao Tong University","School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036757330","display_name":"Zhenhua Xiong","orcid":"https://orcid.org/0000-0001-6046-3101"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhenhua Xiong","raw_affiliation_strings":["Shanghai Jiao Tong University","School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101933540","display_name":"Xiangyang Zhu","orcid":"https://orcid.org/0000-0001-9574-6072"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyang Zhu","raw_affiliation_strings":["Shanghai Jiao Tong University","School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5036757330"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":4.9678,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.95725062,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"43","issue":"12","first_page":"4302","last_page":"4324"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9639000296592712,"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":0.9639000296592712,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.006000000052154064,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.004399999976158142,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/redundancy","display_name":"Redundancy (engineering)","score":0.8664000034332275},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7365000247955322},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7016000151634216},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5478000044822693},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5248000025749207},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.45489999651908875},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.43810001015663147},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.42590001225471497}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.8664000034332275},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7365000247955322},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7016000151634216},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6255000233650208},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5478000044822693},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5248000025749207},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.45489999651908875},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.43810001015663147},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.42590001225471497},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42419999837875366},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.41100001335144043},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.375900000333786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3714999854564667},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.3605000078678131},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32269999384880066},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.320499986410141},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.28760001063346863},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2854999899864197},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.27869999408721924},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.2635999917984009},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2529999911785126}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574725102865","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102865","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"},{"id":"pmh:doi:10.48550/arxiv.2208.08054","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2208.08054","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1502517891","https://openalex.org/W1883379779","https://openalex.org/W1971086298","https://openalex.org/W1981826826","https://openalex.org/W2009124734","https://openalex.org/W2083755543","https://openalex.org/W2110762409","https://openalex.org/W2116341587","https://openalex.org/W2128990851","https://openalex.org/W2163426622","https://openalex.org/W2171074980","https://openalex.org/W2320376266","https://openalex.org/W2325200029","https://openalex.org/W2411093439","https://openalex.org/W2738873657","https://openalex.org/W2744979297","https://openalex.org/W2786893837","https://openalex.org/W2900920845","https://openalex.org/W2921599593","https://openalex.org/W2981034632","https://openalex.org/W3019555951","https://openalex.org/W3043256667","https://openalex.org/W3152907726","https://openalex.org/W3159434032","https://openalex.org/W4220880185","https://openalex.org/W4230379404","https://openalex.org/W4390226606","https://openalex.org/W4390813478","https://openalex.org/W4404546233","https://openalex.org/W4407042402","https://openalex.org/W4407782072","https://openalex.org/W4408520063","https://openalex.org/W4409260522","https://openalex.org/W4413168844"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"Multiple":[1],"mobile":[2],"manipulators":[3],"(":[4,58],"MMs":[5],")":[6],"show":[7,136,163],"superiority":[8],"in":[9,38,92,115,130,169,176],"the":[10,29,39,44,63,72,76,82,87,99,103,110,116,121,131,138,147,164,167,170],"tasks":[11],"requiring":[12],"mobility":[13],"and":[14,36,80,112,141,151],"dexterity":[15],"compared":[16],"with":[17],"a":[18,53],"single":[19],"robot,":[20],"especially":[21],"when":[22],"manipulating/transporting":[23],"bulky":[24],"objects.":[25],"However,":[26],"closed-chain":[27,111],"of":[28,32,89,102,144,166],"system,":[30],"redundancy":[31,88,104],"each":[33,90,128],"MM":[34],",":[35],"obstacles":[37],"environment":[40],"bring":[41],"challenges":[42],"to":[43],"motion":[45,78,123],"planning":[46],"problem.":[47],"In":[48,157],"this":[49],"paper,":[50],"we":[51],"propose":[52],"novel":[54],"semi-coupled":[55,67],"hierarchical":[56,154],"framework":[57],"SCHF":[59,145,168],"),":[60],"which":[61,119],"decomposes":[62],"problem":[64],"into":[65],"two":[66],"sub-problems.":[68],"To":[69],"be":[70,125,180],"specific,":[71],"centralized":[73,117,149],"layer":[74,84],"plans":[75],"object\u2019s":[77,122],"first,":[79],"then":[81],"decentralized":[83,132],"independently":[85],"explores":[86],"robot":[91,129],"real-time.":[93],"A":[94,173],"notable":[95],"feature":[96],"is":[97,107],"that":[98,137],"lower":[100],"bound":[101],"constraint":[105],"metric":[106],"ensured,":[108],"besides":[109],"obstacle-avoidance":[113],"constraints":[114],"layer,":[118],"ensures":[120],"can":[124,179],"executed":[126],"by":[127],"layer.":[133],"Simulated":[134],"results":[135],"success":[139],"rate":[140],"time":[142],"cost":[143],"outperform":[146],"fully":[148,152],"planner":[150,155],"decoupled":[153],"significantly.":[156],"addition,":[158],"cluttered":[159],"real-world":[160],"experiments":[161],"also":[162],"feasibility":[165],"transportation":[171],"tasks.":[172],"video":[174],"clip":[175],"various":[177],"scenarios":[178],"found":[181],"at":[182],"https://youtu.be/Y8ZrnspIuBg":[183],".":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-11-25T00:00:00"}