{"id":"https://openalex.org/W4385267254","doi":"https://doi.org/10.1109/access.2023.3298980","title":"Combined Path and Motion Planning for Workspace Restricted Mobile Manipulators in Planetary Exploration","display_name":"Combined Path and Motion Planning for Workspace Restricted Mobile Manipulators in Planetary Exploration","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4385267254","doi":"https://doi.org/10.1109/access.2023.3298980"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3298980","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3298980","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10194903.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/ielx7/6287639/6514899/10194903.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090408011","display_name":"Gonzalo J. Paz-Delgado","orcid":"https://orcid.org/0000-0002-5094-7396"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Gonzalo J. Paz-Delgado","raw_affiliation_strings":["Department of Systems Engineering and Automation, Space Robotics Laboratory, Universidad de M&#x00E1;laga, Andalucia Tech, M&#x00E1;laga, Spain"],"raw_orcid":"https://orcid.org/0000-0002-5094-7396","affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Space Robotics Laboratory, Universidad de M&#x00E1;laga, Andalucia Tech, M&#x00E1;laga, Spain","institution_ids":["https://openalex.org/I4210125392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043462676","display_name":"J. Ricardo S\u00e1nchez-Ib\u00e1\u00f1ez","orcid":"https://orcid.org/0000-0002-5130-3808"},"institutions":[{"id":"https://openalex.org/I103167339","display_name":"Airbus (Italy)","ror":"https://ror.org/00v8s1x79","country_code":"IT","type":"company","lineage":["https://openalex.org/I103167339","https://openalex.org/I4210121748"]},{"id":"https://openalex.org/I4210098006","display_name":"Guidance (United Kingdom)","ror":"https://ror.org/00spcac30","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210098006"]},{"id":"https://openalex.org/I94706221","display_name":"Airbus (United Kingdom)","ror":"https://ror.org/02hbhxa68","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210121748","https://openalex.org/I94706221"]}],"countries":["GB","IT"],"is_corresponding":false,"raw_author_name":"J. Ricardo S\u00e1nchez-Ib\u00e1\u00f1ez","raw_affiliation_strings":["Guidance Navigation and Control Department, Airbus Defence and Space Ltd., Stevenage, U.K","Guidance Navigation and Control Department, Airbus Defence and Space Ltd, Stevenage, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0002-5130-3808","affiliations":[{"raw_affiliation_string":"Guidance Navigation and Control Department, Airbus Defence and Space Ltd., Stevenage, U.K","institution_ids":["https://openalex.org/I103167339"]},{"raw_affiliation_string":"Guidance Navigation and Control Department, Airbus Defence and Space Ltd, Stevenage, United Kingdom","institution_ids":["https://openalex.org/I94706221","https://openalex.org/I4210098006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069275518","display_name":"Ra\u00fal Dom\u00ednguez","orcid":"https://orcid.org/0000-0002-0191-8345"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ra\u00fal Dom\u00ednguez","raw_affiliation_strings":["DFKI Robotics Innovation Center Bremen, Bremen, Germany","DFKI Robotics Innovation Center Bremen, Robert-Hooke-Str. 1, Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DFKI Robotics Innovation Center Bremen, Bremen, Germany","institution_ids":[]},{"raw_affiliation_string":"DFKI Robotics Innovation Center Bremen, Robert-Hooke-Str. 1, Bremen, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016614745","display_name":"Carlos J. P\u00e9rez-del-Pulgar","orcid":"https://orcid.org/0000-0001-5819-8310"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos J. P\u00e9rez-Del-Pulgar","raw_affiliation_strings":["Department of Systems Engineering and Automation, Space Robotics Laboratory, Universidad de M&#x00E1;laga, Andalucia Tech, M&#x00E1;laga, Spain"],"raw_orcid":"https://orcid.org/0000-0001-5819-8310","affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Space Robotics Laboratory, Universidad de M&#x00E1;laga, Andalucia Tech, M&#x00E1;laga, Spain","institution_ids":["https://openalex.org/I4210125392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016436943","display_name":"Frank Kirchner","orcid":"https://orcid.org/0000-0002-1713-9784"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Frank Kirchner","raw_affiliation_strings":["DFKI Robotics Innovation Center Bremen, Bremen, Germany","DFKI Robotics Innovation Center Bremen, Robert-Hooke-Str. 1, Bremen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DFKI Robotics Innovation Center Bremen, Bremen, Germany","institution_ids":[]},{"raw_affiliation_string":"DFKI Robotics Innovation Center Bremen, Robert-Hooke-Str. 1, Bremen, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052476498","display_name":"Alfonso Garc\u00eda-Cerezo","orcid":"https://orcid.org/0000-0003-3432-3230"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alfonso Garc\u00eda-Cerezo","raw_affiliation_strings":["Department of Systems Engineering and Automation, Space Robotics Laboratory, Universidad de M&#x00E1;laga, Andalucia Tech, M&#x00E1;laga, Spain"],"raw_orcid":"https://orcid.org/0000-0003-3432-3230","affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Space Robotics Laboratory, Universidad de M&#x00E1;laga, Andalucia Tech, M&#x00E1;laga, Spain","institution_ids":["https://openalex.org/I4210125392"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5090408011"],"corresponding_institution_ids":["https://openalex.org/I4210125392"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.8107,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.74427396,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"11","issue":null,"first_page":"78152","last_page":"78169"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9966999888420105,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9914000034332275,"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/workspace","display_name":"Workspace","score":0.8303687572479248},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7523192167282104},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7424001693725586},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7085980772972107},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5703437328338623},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.532550036907196},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.49306580424308777},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4869328737258911},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.48654595017433167},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4823548197746277},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4533575773239136},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4445713758468628},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4121583104133606},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3999263048171997},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26204144954681396},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1423088014125824}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8303687572479248},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7523192167282104},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7424001693725586},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7085980772972107},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5703437328338623},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.532550036907196},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.49306580424308777},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4869328737258911},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.48654595017433167},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4823548197746277},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4533575773239136},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4445713758468628},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4121583104133606},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3999263048171997},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26204144954681396},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1423088014125824},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3298980","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3298980","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10194903.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:21ac904a36e04147bba5a59c62e3876a","is_oa":true,"landing_page_url":"https://doaj.org/article/21ac904a36e04147bba5a59c62e3876a","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 11, Pp 78152-78169 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3298980","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3298980","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10194903.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":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6200000047683716}],"awards":[{"id":"https://openalex.org/G1611036946","display_name":null,"funder_award_id":"821988","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385267254.pdf","grobid_xml":"https://content.openalex.org/works/W4385267254.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W2007551178","https://openalex.org/W2009447937","https://openalex.org/W2035510971","https://openalex.org/W2049391017","https://openalex.org/W2054113582","https://openalex.org/W2067707405","https://openalex.org/W2069635875","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2143826757","https://openalex.org/W2151492375","https://openalex.org/W2176690447","https://openalex.org/W2691907123","https://openalex.org/W2730780157","https://openalex.org/W2791820620","https://openalex.org/W2793955514","https://openalex.org/W2890433751","https://openalex.org/W2963823948","https://openalex.org/W2965298339","https://openalex.org/W2971497498","https://openalex.org/W3009942643","https://openalex.org/W3042275200","https://openalex.org/W3089700794","https://openalex.org/W3115302592","https://openalex.org/W3128466740","https://openalex.org/W3176315233","https://openalex.org/W3185521586","https://openalex.org/W3186006973","https://openalex.org/W3188348760","https://openalex.org/W3197704885","https://openalex.org/W4210613326","https://openalex.org/W4210703677","https://openalex.org/W4240172577","https://openalex.org/W4311886256","https://openalex.org/W4313598692"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"A":[0],"highly":[1],"restricted":[2],"workspace":[3,129,246],"of":[4,125,130,174],"the":[5,59,68,77,84,90,102,115,131,141,169,191,206,223,240,244,249],"robotic":[6],"arm":[7,103],"may":[8],"hinder":[9],"to":[10,57,75,81,254],"perform":[11],"safely":[12],"any":[13],"autonomous":[14],"mobile":[15,38,196,250],"manipulation":[16,39,197,251],"task":[17],"with":[18,150,155,168],"planetary":[19],"exploration":[20],"rovers.":[21],"To":[22],"ensure":[23,82],"mission":[24,216],"safety":[25],"as":[26,28,212,214],"well":[27,213],"high":[29],"efficiency,":[30],"a":[31,46,54,93,109,164,195,226],"coupled":[32],"path":[33,51,71],"and":[34,64,161,193],"motion":[35,99,105,158,208,252],"planner":[36,52,72,100,209,253],"for":[37],"is":[40,73,86,219],"presented":[41,145],"in":[42,67,163,182,232,235,248],"this":[43],"work.":[44],"First,":[45],"Fast":[47,95],"Marching":[48,96],"Method":[49,97],"based":[50,98],"generates":[53,101],"safe":[55,128],"trajectory":[56],"reach":[58],"goal":[60,85],"vicinity,":[61],"avoiding":[62],"obstacles":[63],"non-traversable":[65],"areas":[66],"scenario.":[69],"The":[70,144,179],"able":[74],"control":[76],"final":[78],"rover":[79,118,170],"orientation":[80],"that":[83,135,205,230],"finally":[87],"reachable":[88],"by":[89,107],"arm.":[91],"Second,":[92],"3D":[94,110],"joints":[104],"profile,":[106],"creating":[108],"tunnel-like":[111],"cost":[112],"volume":[113],"surrounding":[114],"already":[116],"computed":[117],"base":[119],"trajectory.":[120],"This":[121,218],"tunnel":[122],"makes":[123],"use":[124],"an":[126,156,187],"offline-computed":[127],"manipulator,":[132],"thus":[133],"ensuring":[134],"no":[136],"self-collision":[137,256],"will":[138],"occur":[139],"during":[140],"planned":[142],"motion.":[143],"algorithm":[146],"has":[147],"been":[148],"tested":[149],"multiple":[151],"simulation":[152],"experiments,":[153],"benchmarked":[154],"off-the-shelf":[157],"planning":[159],"library,":[160],"validated":[162],"field":[165],"test":[166],"campaign":[167],"<italic":[171,183],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[172,184],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">SherpaTT</i>":[173,185],"DFKI":[175],"Robotics":[176],"Innovation":[177],"Center.":[178],"tests":[180],"consisted":[181],"approaching":[186],"interesting":[188],"area":[189],"on":[190,222,239],"scenario":[192],"performing":[194],"sample":[198],"scanning":[199],"operation.":[200],"These":[201],"experiments":[202],"have":[203],"demonstrated":[204],"proposed":[207],"increases":[210],"efficiency":[211,234],"ensures":[215],"safety.":[217],"thanks":[220],"to,":[221],"one":[224],"hand,":[225,242],"coordinated":[227],"base-arm":[228],"movement":[229],"results":[231],"maximized":[233],"time":[236],"terms,":[237],"and,":[238],"other":[241],"considering":[243],"manipulator":[245],"offline":[247],"guarantee":[255],"avoidance.":[257]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}