{"id":"https://openalex.org/W4312808523","doi":"https://doi.org/10.1109/access.2022.3223995","title":"Automating Adaptive Execution Behaviors for Robot Manipulation","display_name":"Automating Adaptive Execution Behaviors for Robot Manipulation","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4312808523","doi":"https://doi.org/10.1109/access.2022.3223995"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3223995","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3223995","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09957063.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":null,"license_id":null,"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/ielx7/6287639/6514899/09957063.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028669947","display_name":"Oriol Ruiz-Celada","orcid":"https://orcid.org/0000-0002-6171-7270"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Oriol Ruiz-Celada","raw_affiliation_strings":["Institute of Industrial and Control Engineering, Universitat Polit&#x00E8;cnica de Catalunya, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial and Control Engineering, Universitat Polit&#x00E8;cnica de Catalunya, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089482386","display_name":"Parikshit Verma","orcid":"https://orcid.org/0000-0001-6150-4657"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Parikshit Verma","raw_affiliation_strings":["Institute of Industrial and Control Engineering, Universitat Polit&#x00E8;cnica de Catalunya, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial and Control Engineering, Universitat Polit&#x00E8;cnica de Catalunya, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076637369","display_name":"Mohammed Diab","orcid":"https://orcid.org/0000-0002-5743-5190"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mohammed Diab","raw_affiliation_strings":["Personal Robotics Laboratory, Imperial College London, London, U.K","Personal Robotics Lab, Imperial College London, South Kensington Campus, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Personal Robotics Laboratory, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Personal Robotics Lab, Imperial College London, South Kensington Campus, London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031235936","display_name":"Jan Rosell","orcid":"https://orcid.org/0000-0003-4854-2370"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jan Rosell","raw_affiliation_strings":["Institute of Industrial and Control Engineering, Universitat Polit&#x00E8;cnica de Catalunya, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial and Control Engineering, Universitat Polit&#x00E8;cnica de Catalunya, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5028669947"],"corresponding_institution_ids":["https://openalex.org/I9617848"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.792,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.87487103,"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":"123489","last_page":"123497"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"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":0.9941999912261963,"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/computer-science","display_name":"Computer science","score":0.7915486693382263},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7133198976516724},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6773968935012817},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.6070413589477539},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5578212738037109},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5310775637626648},{"id":"https://openalex.org/keywords/ontology","display_name":"Ontology","score":0.5179625749588013},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5098463892936707},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.47144922614097595},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.44758525490760803},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4216729998588562},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4173443019390106},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.2933098077774048}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7915486693382263},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7133198976516724},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6773968935012817},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.6070413589477539},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5578212738037109},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5310775637626648},{"id":"https://openalex.org/C25810664","wikidata":"https://www.wikidata.org/wiki/Q44325","display_name":"Ontology","level":2,"score":0.5179625749588013},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5098463892936707},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.47144922614097595},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.44758525490760803},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4216729998588562},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4173443019390106},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.2933098077774048},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2022.3223995","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3223995","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09957063.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:d54577a76ad345eb818989a272bb3d20","is_oa":true,"landing_page_url":"https://doaj.org/article/d54577a76ad345eb818989a272bb3d20","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 123489-123497 (2022)","raw_type":"article"},{"id":"pmh:oai:upcommons.upc.edu:2117/381523","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/381523","pdf_url":null,"source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3223995","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3223995","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09957063.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6600000262260437,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312808523.pdf","grobid_xml":"https://content.openalex.org/works/W4312808523.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W125541279","https://openalex.org/W1545688112","https://openalex.org/W2029752358","https://openalex.org/W2110762409","https://openalex.org/W2548961765","https://openalex.org/W2898247574","https://openalex.org/W2901136733","https://openalex.org/W2920776497","https://openalex.org/W2984756091","https://openalex.org/W2994830123","https://openalex.org/W3024044737","https://openalex.org/W3092637481","https://openalex.org/W3098499184","https://openalex.org/W3100516791","https://openalex.org/W3138524621","https://openalex.org/W3167357599","https://openalex.org/W3207057769","https://openalex.org/W3215614100","https://openalex.org/W4210703677","https://openalex.org/W4285141158","https://openalex.org/W4312389145","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2362192218","https://openalex.org/W1526424163","https://openalex.org/W4229726131","https://openalex.org/W2166791242","https://openalex.org/W4320167368","https://openalex.org/W2323122434","https://openalex.org/W2149328105","https://openalex.org/W2140410272","https://openalex.org/W3038859464","https://openalex.org/W4290638112"],"abstract_inverted_index":{"Robotic":[0],"manipulation":[1,75,188],"in":[2,83,93,177],"semi-structured":[3],"and":[4,12,18,27,33,38,60,113,194],"changing":[5],"environments":[6],"requires":[7],"systems":[8],"with:":[9],"a)":[10],"perception":[11,59],"reasoning":[13,62,121],"capabilities":[14,29],"able":[15,107],"to":[16,64,95,97,108,123,131,144,158,175,190,198],"capture":[17],"understand":[19],"the":[20,23,53,66,74,84,103,127,133,136,140,146,153,167,172,178,181],"state":[21,179],"of":[22,126,152,155,166,171,180],"environment;":[24],"b)":[25],"planning":[26,85],"replanning":[28],"at":[30,77,110],"both":[31,111],"symbolic":[32,128],"geometric":[34,120],"levels;":[35],"c)":[36],"automatic":[37],"robust":[39],"execution":[40,92],"capabilities.":[41],"To":[42],"cope":[43],"with":[44,52],"these":[45],"issues,":[46],"this":[47],"paper":[48],"presents":[49],"a":[50],"framework":[51,105,137],"following":[54],"features.":[55],"First,":[56],"it":[57],"uses":[58],"ontology-based":[61],"procedures":[63],"obtain":[65],"Planning":[67],"Description":[68],"Domain":[69],"Language":[70],"files":[71],"that":[72],"describe":[73,132],"problem":[76],"task":[78,91,112],"level.":[79],"This":[80],"is":[81,106],"used":[82],"stage":[86],"as":[87,89],"well":[88],"during":[90,161],"order":[94],"adapt":[96],"new":[98],"situations,":[99],"if":[100],"required.":[101],"Second,":[102],"proposed":[104],"plan":[109,169],"motion":[114],"levels,":[115],"intertwining":[116],"them":[117],"by":[118],"incorporating":[119],"modules":[122],"determine":[124],"some":[125],"predicates":[129],"needed":[130],"states.":[134],"Finally,":[135],"automatically":[138,192],"generates":[139],"behavior":[141,156],"trees":[142,157],"required":[143],"execute":[145],"task.":[147],"The":[148,183],"proposal":[149],"takes":[150],"advantage":[151],"ability":[154],"be":[159,191],"edited":[160],"run":[162],"time,":[163],"allowing":[164],"adaptation":[165],"action":[168],"or":[170],"trajectories":[173],"according":[174],"changes":[176],"environment.":[182],"approach":[184],"allows":[185],"for":[186],"robot":[187],"tasks":[189],"planned":[193],"robustly":[195],"executed,":[196],"contributing":[197],"achieve":[199],"fully":[200],"functional":[201],"service":[202],"robots.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}
