{"id":"https://openalex.org/W4214905900","doi":"https://doi.org/10.1109/access.2022.3156919","title":"Optimal Image-Based Task-Sequence/Path Planning and Robust Hybrid Vision/Force Control of Industrial Robots","display_name":"Optimal Image-Based Task-Sequence/Path Planning and Robust Hybrid Vision/Force Control of Industrial Robots","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4214905900","doi":"https://doi.org/10.1109/access.2022.3156919"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3156919","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3156919","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09729209.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09729209.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076633452","display_name":"Bahar Ahmadi","orcid":"https://orcid.org/0000-0001-8091-5996"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Bahar Ahmadi","raw_affiliation_strings":["Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0001-8091-5996","affiliations":[{"raw_affiliation_string":"Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020170523","display_name":"Ehsan Zakeri","orcid":"https://orcid.org/0000-0002-6140-0521"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ehsan Zakeri","raw_affiliation_strings":["Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-6140-0521","affiliations":[{"raw_affiliation_string":"Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085378824","display_name":"Wenfang Xie","orcid":"https://orcid.org/0000-0003-2449-6306"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Wen-Fang Xie","raw_affiliation_strings":["Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0003-2449-6306","affiliations":[{"raw_affiliation_string":"Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I60158472"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.4682,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.82651413,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"10","issue":null,"first_page":"26347","last_page":"26368"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9993000030517578,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9993000030517578,"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":0.9958999752998352,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9947999715805054,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7327698469161987},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6214370131492615},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.574573814868927},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5473870635032654},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4626961350440979},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4400786757469177},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4341791868209839},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4313719868659973},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4280022382736206},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42475566267967224},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41538557410240173},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10926029086112976}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7327698469161987},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6214370131492615},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.574573814868927},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5473870635032654},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4626961350440979},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4400786757469177},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4341791868209839},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4313719868659973},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4280022382736206},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42475566267967224},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41538557410240173},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10926029086112976},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3156919","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3156919","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09729209.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:b901e5e3d8e04cf5a50a8fdf207832a8","is_oa":true,"landing_page_url":"https://doaj.org/article/b901e5e3d8e04cf5a50a8fdf207832a8","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 26347-26368 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3156919","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3156919","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09729209.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4214905900.pdf","grobid_xml":"https://content.openalex.org/works/W4214905900.grobid-xml"},"referenced_works_count":52,"referenced_works":["https://openalex.org/W250076511","https://openalex.org/W1608481154","https://openalex.org/W1970125502","https://openalex.org/W1994732751","https://openalex.org/W2010984985","https://openalex.org/W2052665504","https://openalex.org/W2082991751","https://openalex.org/W2085261163","https://openalex.org/W2098130915","https://openalex.org/W2140099586","https://openalex.org/W2141627350","https://openalex.org/W2148696492","https://openalex.org/W2152164805","https://openalex.org/W2167501464","https://openalex.org/W2273809405","https://openalex.org/W2288836328","https://openalex.org/W2460622472","https://openalex.org/W2516633252","https://openalex.org/W2566892410","https://openalex.org/W2763619749","https://openalex.org/W2773752100","https://openalex.org/W2834072840","https://openalex.org/W2883539312","https://openalex.org/W2896998450","https://openalex.org/W2902172955","https://openalex.org/W2904100839","https://openalex.org/W2911283711","https://openalex.org/W2911706123","https://openalex.org/W2918545743","https://openalex.org/W2963965769","https://openalex.org/W2982527909","https://openalex.org/W2991443302","https://openalex.org/W2992400483","https://openalex.org/W2995249438","https://openalex.org/W2997364322","https://openalex.org/W3010240079","https://openalex.org/W3015635168","https://openalex.org/W3021160082","https://openalex.org/W3022908378","https://openalex.org/W3034196388","https://openalex.org/W3043371792","https://openalex.org/W3059965140","https://openalex.org/W3091336547","https://openalex.org/W3091901463","https://openalex.org/W3094621922","https://openalex.org/W3094704314","https://openalex.org/W3098440602","https://openalex.org/W3110565446","https://openalex.org/W3137117478","https://openalex.org/W3186522744","https://openalex.org/W3199882012","https://openalex.org/W4254005064"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W4243663106","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"In":[0],"this":[1,69],"paper,":[2],"a":[3,11,32,57,71,130,135,178,199],"novel":[4,82,179,200],"image-based":[5,155],"task-sequence/path":[6],"planning":[7,42,53,165,176],"scheme":[8,43],"coupled":[9],"with":[10,31,173],"robust":[12,191],"vision/force":[13,192],"control":[14,193,232],"method":[15,36,54,73],"is":[16,74,94,134,147,159,166,187],"suggested":[17],"for":[18,96,161,190],"solving":[19],"the":[20,47,61,64,98,103,110,113,116,151,164,169,174,195,205,222,237,240],"multi-task":[21],"operation":[22],"problem":[23,125],"of":[24,109,115,142,194,239],"an":[25,38,50,121,227],"eye-in-hand":[26],"(EIH)":[27],"industrial":[28],"robot":[29,65,206],"interacting":[30],"workpiece.":[33],"The":[34,107,139],"proposed":[35,175,241],"suggests":[37],"optimal":[39,51],"task":[40],"sequence":[41,114],"to":[44,55,149,207,243],"perform":[45],"all":[46],"tasks":[48,62,117],"and":[49,112,212,219],"path":[52,59,100],"generate":[56],"collision-free":[58,99],"between":[60,209],"when":[63],"performs":[66],"free-motion.":[67],"To":[68],"end,":[70],"new":[72],"presented":[75],"which":[76,133],"solves":[77],"both":[78],"problems":[79],"simultaneously.":[80,123],"A":[81],"deadlock-free":[83],"modified":[84],"artificial":[85],"potential":[86,92],"field":[87],"(MAPF)":[88],"based":[89],"on":[90],"rotational":[91],"force":[93],"developed":[95,148],"generating":[97],"betweentasks":[101],"in":[102,168],"three-dimensional":[104],"(3D)":[105],"environment.":[106],"parameters":[108],"MAPF":[111],"are":[118],"found":[119],"by":[120,225],"optimizer":[122],"This":[124],"can":[126],"be":[127],"considered":[128],"as":[129],"MAPF-constrained-generalized-traveling-salesman-problem":[131],"(MAPF-CGTSP),":[132],"mix-integer":[136,140],"optimization":[137,144],"problem.":[138,152],"version":[141],"multi-tracker":[143],"algorithm":[145],"(MTOA)":[146],"solve":[150],"However,":[153],"since":[154],"visual":[156],"servoing":[157],"(IBVS)":[158],"used":[160],"motion":[162],"control,":[163],"conducted":[167],"image":[170],"space.":[171],"Integrated":[172],"method,":[177],"chattering-free":[180],"filtered":[181],"quasi":[182],"sliding":[183],"mode":[184,211],"controller":[185],"(FQSMC)":[186],"specially":[188],"designed":[189],"robot.":[196],"FQSMC":[197,215],"exploits":[198],"variable-gain":[201],"orthogonal-sliding-manifold":[202],"(VGOSM)which":[203],"enables":[204],"switch":[208],"free-motion":[210],"interaction":[213],"mode.":[214],"overcomes":[216],"large":[217],"uncertainties":[218],"filters":[220],"out":[221],"existing":[223],"noises":[224],"exploiting":[226],"intrinsic":[228],"filter":[229],"within":[230],"its":[231],"law.":[233],"Experimental":[234],"results":[235],"show":[236],"superiority":[238],"approach":[242],"other":[244],"state-of-the-art":[245],"methods.":[246]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
