{"id":"https://openalex.org/W4401726313","doi":"https://doi.org/10.1080/01691864.2024.2391831","title":"Task and motion planning using mixed integer linear programming for solving fetch-and-carry tasks by a mobile manipulator","display_name":"Task and motion planning using mixed integer linear programming for solving fetch-and-carry tasks by a mobile manipulator","publication_year":2024,"publication_date":"2024-08-21","ids":{"openalex":"https://openalex.org/W4401726313","doi":"https://doi.org/10.1080/01691864.2024.2391831"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2024.2391831","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2024.2391831","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":["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/A5020021667","display_name":"Sotaro Suwa","orcid":null},"institutions":[{"id":"https://openalex.org/I137975476","display_name":"Shinshu University","ror":"https://ror.org/0244rem06","country_code":"JP","type":"education","lineage":["https://openalex.org/I137975476"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sotaro Suwa","raw_affiliation_strings":["Graduate School of Science Technology, Shinshu University, Nagano, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science Technology, Shinshu University, Nagano, Japan","institution_ids":["https://openalex.org/I137975476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042147200","display_name":"Keisuke Takeshita","orcid":"https://orcid.org/0000-0003-0942-0514"},"institutions":[{"id":"https://openalex.org/I137975476","display_name":"Shinshu University","ror":"https://ror.org/0244rem06","country_code":"JP","type":"education","lineage":["https://openalex.org/I137975476"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keisuke Takeshita","raw_affiliation_strings":["Faculty of Engineering, Shinshu University, Nagano, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Shinshu University, Nagano, Japan","institution_ids":["https://openalex.org/I137975476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035229636","display_name":"Kimitoshi Yamazaki","orcid":"https://orcid.org/0000-0002-4096-3288"},"institutions":[{"id":"https://openalex.org/I4210137853","display_name":"Toyota Motor Corporation (Japan)","ror":"https://ror.org/02zqm6r10","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kimitoshi Yamazaki","raw_affiliation_strings":["Toyota Motor Corp, Aichi, Japan"],"affiliations":[{"raw_affiliation_string":"Toyota Motor Corp, Aichi, Japan","institution_ids":["https://openalex.org/I4210137853"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5035229636"],"corresponding_institution_ids":["https://openalex.org/I4210137853"],"apc_list":null,"apc_paid":null,"fwci":0.5263,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.65086819,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"38","issue":"17","first_page":"1188","last_page":"1201"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9955000281333923,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9940000176429749,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/fetch","display_name":"Fetch","score":0.822895348072052},{"id":"https://openalex.org/keywords/carry","display_name":"Carry (investment)","score":0.815271258354187},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6927109956741333},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5960426330566406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5888087749481201},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.557823657989502},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5568305253982544},{"id":"https://openalex.org/keywords/integer","display_name":"Integer (computer science)","score":0.5047444105148315},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.49548423290252686},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.42424893379211426},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4225923717021942},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36586061120033264},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3632158041000366},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35963010787963867},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33890995383262634},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32628464698791504},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28416165709495544},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2773510217666626},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2401164174079895},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2042076289653778},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1055433452129364},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.0917012095451355}],"concepts":[{"id":"https://openalex.org/C131918245","wikidata":"https://www.wikidata.org/wiki/Q1409090","display_name":"Fetch","level":2,"score":0.822895348072052},{"id":"https://openalex.org/C2776299755","wikidata":"https://www.wikidata.org/wiki/Q432449","display_name":"Carry (investment)","level":2,"score":0.815271258354187},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6927109956741333},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5960426330566406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5888087749481201},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.557823657989502},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5568305253982544},{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.5047444105148315},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.49548423290252686},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.42424893379211426},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4225923717021942},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36586061120033264},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3632158041000366},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35963010787963867},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33890995383262634},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32628464698791504},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28416165709495544},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2773510217666626},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2401164174079895},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2042076289653778},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1055433452129364},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0917012095451355},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2024.2391831","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2024.2391831","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W419168134","https://openalex.org/W601228132","https://openalex.org/W2031738727","https://openalex.org/W2050718309","https://openalex.org/W2057408106","https://openalex.org/W2080928135","https://openalex.org/W2126626584","https://openalex.org/W2135319191","https://openalex.org/W2138501114","https://openalex.org/W2141841102","https://openalex.org/W2143936212","https://openalex.org/W2314660963","https://openalex.org/W2328737820","https://openalex.org/W2468062401","https://openalex.org/W2490090381","https://openalex.org/W2626914210","https://openalex.org/W2768634154","https://openalex.org/W2911082410","https://openalex.org/W2942559300","https://openalex.org/W2984756091","https://openalex.org/W3011316078","https://openalex.org/W3039141704","https://openalex.org/W3098499184","https://openalex.org/W3128894241","https://openalex.org/W3129254331","https://openalex.org/W4200398046","https://openalex.org/W4251787547","https://openalex.org/W4313039234","https://openalex.org/W4365799809","https://openalex.org/W4376502360","https://openalex.org/W6730298481"],"related_works":["https://openalex.org/W4234825356","https://openalex.org/W2695075568","https://openalex.org/W4361186078","https://openalex.org/W4385607490","https://openalex.org/W2331363374","https://openalex.org/W2329712830","https://openalex.org/W2724068543","https://openalex.org/W577644862","https://openalex.org/W2373585563","https://openalex.org/W2643283410"],"abstract_inverted_index":{"This":[0],"manuscript":[1],"describes":[2],"a":[3,25,30,46,64,72,91,144,152],"TAsk":[4],"and":[5,18,29,48,107,136,151],"Motion":[6],"Planning":[7],"(TAMP)":[8],"method":[9,100,127],"for":[10,33,90],"mobile":[11,61,112,149],"manipulators.":[12],"We":[13],"focus":[14],"on":[15],"fetch-and-carry":[16,88],"tasks,":[17],"we":[19,79],"aim":[20],"to":[21,40,56],"simultaneously":[22],"generate":[23],"both":[24],"sequence":[26,32,104],"of":[27,38,60,75,83,105,110,124],"actions":[28,106],"motion":[31],"each":[34],"action.":[35],"The":[36,98,122],"number":[37],"factors":[39],"be":[41],"considered":[42],"in":[43,114,119,130,132,140],"solving":[44],"such":[45],"problem,":[47],"the":[49,57,81,84,103,108,111,125],"interactions":[50],"among":[51],"them":[52],"are":[53,138],"complex":[54],"due":[55],"multifaceted":[58],"characteristics":[59],"manipulation.":[62],"As":[63],"result,":[65],"straightforwardly":[66],"performing":[67],"simultaneous":[68],"TAMP":[69],"may":[70],"require":[71],"significant":[73],"amount":[74],"processing":[76],"time.":[77],"Therefore,":[78],"reduce":[80],"complexity":[82],"problem":[85],"by":[86],"formulating":[87],"planning":[89],"Mixed":[92],"Integer":[93],"Linear":[94],"Programming":[95],"(MILP)":[96],"problem.":[97],"proposed":[99,126],"can":[101],"obtain":[102],"movement":[109],"manipulator":[113],"less":[115],"than":[116],"one":[117],"second":[118],"many":[120],"cases.":[121],"effectiveness":[123],"is":[128],"verified":[129],"environments":[131],"which":[133],"delivery":[134],"objects":[135],"obstacles":[137],"placed":[139],"various":[141],"patterns,":[142],"using":[143],"robot":[145],"with":[146],"an":[147],"omnidirectional":[148],"platform":[150],"serial":[153],"link":[154],"manipulator.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}