{"id":"https://openalex.org/W3004440488","doi":"https://doi.org/10.1080/01691864.2021.1890212","title":"Autonomous planning based on spatial concepts to tidy up home environments with service robots","display_name":"Autonomous planning based on spatial concepts to tidy up home environments with service robots","publication_year":2021,"publication_date":"2021-02-22","ids":{"openalex":"https://openalex.org/W3004440488","doi":"https://doi.org/10.1080/01691864.2021.1890212","mag":"3004440488"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2021.1890212","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2021.1890212","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2002.03671","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Akira Taniguchi","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Akira Taniguchi","raw_affiliation_strings":["College of Information Science and Engineering, Ritsumeikan University, Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shota Isobe","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shota Isobe","raw_affiliation_strings":["College of Information Science and Engineering, Ritsumeikan University, Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lotfi El Hafi","orcid":"https://orcid.org/0000-0001-9795-6153"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Lotfi El Hafi","raw_affiliation_strings":["College of Information Science and Engineering, Ritsumeikan University, Shiga, Japan"],"raw_orcid":"https://orcid.org/0000-0001-9795-6153","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yoshinobu Hagiwara","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshinobu Hagiwara","raw_affiliation_strings":["College of Information Science and Engineering, Ritsumeikan University, Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":null,"display_name":"Tadahiro Taniguchi","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tadahiro Taniguchi","raw_affiliation_strings":["College of Information Science and Engineering, Ritsumeikan University, Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":1.8447,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.87096253,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"35","issue":"8","first_page":"471","last_page":"489"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.47679999470710754,"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":0.47679999470710754,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.18060000240802765,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.08299999684095383,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.777899980545044},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.7228000164031982},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6392999887466431},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5947999954223633},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5205000042915344},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.4900999963283539},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.4514999985694885},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.44699999690055847},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34610000252723694}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.777899980545044},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7228000164031982},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7073000073432922},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6392999887466431},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5947999954223633},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5220000147819519},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5205000042915344},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.4900999963283539},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.4514999985694885},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.44699999690055847},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4408999979496002},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3483000099658966},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34610000252723694},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.34130001068115234},{"id":"https://openalex.org/C2778848561","wikidata":"https://www.wikidata.org/wiki/Q207326","display_name":"Summit","level":2,"score":0.34060001373291016},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.3190999925136566},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.31630000472068787},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3156999945640564},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.30649998784065247},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.29660001397132874},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2824999988079071},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28049999475479126},{"id":"https://openalex.org/C182306322","wikidata":"https://www.wikidata.org/wiki/Q1779371","display_name":"Order (exchange)","level":2,"score":0.2752000093460083},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2734000086784363},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.2671000063419342},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.257099986076355},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.2549000084400177},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.2540000081062317}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/01691864.2021.1890212","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2021.1890212","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2002.03671","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.03671","pdf_url":"https://arxiv.org/pdf/2002.03671","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2002.03671","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.03671","pdf_url":"https://arxiv.org/pdf/2002.03671","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5007702407","display_name":null,"funder_award_id":"JPMJCR15E3","funder_id":"https://openalex.org/F4320334789","funder_display_name":"Japan Science and Technology Agency"},{"id":"https://openalex.org/G665459363","display_name":null,"funder_award_id":"JP20K19900","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"},{"id":"https://openalex.org/F4320334789","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1515145374","https://openalex.org/W1967740178","https://openalex.org/W1968034339","https://openalex.org/W2011760672","https://openalex.org/W2031917714","https://openalex.org/W2072169887","https://openalex.org/W2091862867","https://openalex.org/W2110762409","https://openalex.org/W2133844819","https://openalex.org/W2141664020","https://openalex.org/W2167340365","https://openalex.org/W2193945050","https://openalex.org/W2265661972","https://openalex.org/W2336416123","https://openalex.org/W2410933284","https://openalex.org/W2470820246","https://openalex.org/W2523049145","https://openalex.org/W2551513424","https://openalex.org/W2573646622","https://openalex.org/W2606794968","https://openalex.org/W2607257024","https://openalex.org/W2621274416","https://openalex.org/W2765562426","https://openalex.org/W2766934580","https://openalex.org/W2767009175","https://openalex.org/W2888726795","https://openalex.org/W2899160115","https://openalex.org/W2910740114","https://openalex.org/W2945614608","https://openalex.org/W2947311533","https://openalex.org/W2947722169","https://openalex.org/W2962716343","https://openalex.org/W2963357556","https://openalex.org/W2963586834","https://openalex.org/W2963922343","https://openalex.org/W2972544311","https://openalex.org/W2989869785","https://openalex.org/W6756486208"],"related_works":[],"abstract_inverted_index":{"Tidy-up":[0],"tasks":[1],"by":[2,72,132],"service":[3],"robots":[4,23],"in":[5,10,108],"home":[6,34],"environments":[7],"are":[8,24],"challenging":[9],"robotics":[11,153],"applications":[12],"because":[13],"they":[14],"involve":[15],"various":[16,33],"interactions":[17],"with":[18],"the":[19,40,46,61,66,74,88,91,95,103,121,126,129,138,141,147,160,164,174,179],"environment.":[20,111],"In":[21,48],"particular,":[22],"required":[25],"not":[26],"only":[27],"to":[28,38,68,86,99,119,166],"grasp,":[29],"move,":[30],"and":[31,42,63,97,172],"release":[32],"objects":[35,67,96,171],"but":[36],"also":[37],"plan":[39],"order":[41,62],"positions":[43,64],"for":[44],"placing":[45],"objects.":[47],"this":[49],"paper,":[50],"we":[51,113],"propose":[52],"a":[53,77,84,109],"novel":[54],"planning":[55],"method":[56,131,162],"that":[57,136,159],"can":[58],"efficiently":[59],"estimate":[60],"of":[65,76,90,94,128,140,146],"be":[69],"tidied":[70,110],"up":[71,101,169],"learning":[73],"parameters":[75],"probabilistic":[78],"generative":[79],"model.":[80],"The":[81,155],"model":[82],"allows":[83],"robot":[85,165],"learn":[87],"distributions":[89],"co-occurrence":[92],"probability":[93],"places":[98],"tidy":[100,168],"using":[102],"multimodal":[104],"sensor":[105],"information":[106],"collected":[107],"Additionally,":[112],"develop":[114],"an":[115,133],"autonomous":[116],"robotic":[117],"system":[118],"perform":[120],"tidy-up":[122,182],"operation.":[123],"We":[124],"evaluate":[125],"effectiveness":[127],"proposed":[130,161],"experimental":[134],"simulation":[135,156],"reproduces":[137],"conditions":[139],"Tidy":[142],"Up":[143],"Here":[144],"task":[145,176],"World":[148],"Robot":[149],"Summit":[150],"2018":[151],"international":[152],"competition.":[154],"results":[157],"show":[158],"enables":[163],"successively":[167],"several":[170],"achieves":[173],"best":[175],"score":[177],"among":[178],"considered":[180],"baseline":[181],"methods.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2020-02-14T00:00:00"}
