{"id":"https://openalex.org/W4399728063","doi":"https://doi.org/10.1109/access.2024.3415109","title":"Collision-Free Target Grasping in Complex and Cluttered Environment for Efficient Task and Motion Planning","display_name":"Collision-Free Target Grasping in Complex and Cluttered Environment for Efficient Task and Motion Planning","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4399728063","doi":"https://doi.org/10.1109/access.2024.3415109"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3415109","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3415109","pdf_url":null,"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://doi.org/10.1109/access.2024.3415109","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076776904","display_name":"Joosun Lee","orcid":"https://orcid.org/0000-0001-7489-0833"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Joosun Lee","raw_affiliation_strings":["Department of Mechatronics Engineering, Hanyang University, Ansan, Gyeonggi-do, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Hanyang University, Ansan, Gyeonggi-do, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062422652","display_name":"Taeyhang Lim","orcid":"https://orcid.org/0000-0001-6162-1327"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Taeyhang Lim","raw_affiliation_strings":["Department of Interdisciplinary Robot Engineering Systems, Hanyang University, Ansan, Gyeonggi-do, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Interdisciplinary Robot Engineering Systems, Hanyang University, Ansan, Gyeonggi-do, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086536952","display_name":"Le Bao","orcid":"https://orcid.org/0000-0001-5284-473X"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Le Bao","raw_affiliation_strings":["Department of Mechatronics Engineering, Hanyang University, Ansan, Gyeonggi-do, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Hanyang University, Ansan, Gyeonggi-do, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101430480","display_name":"Wansoo Kim","orcid":"https://orcid.org/0000-0002-3254-3929"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wansoo Kim","raw_affiliation_strings":["Robotics Department, Hanyang University ERICA, Ansan, Gyeonggi-do, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Robotics Department, Hanyang University ERICA, Ansan, Gyeonggi-do, Republic of Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5076776904"],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0786242,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":null,"first_page":"85735","last_page":"85744"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9998999834060669,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9980999827384949,"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/computer-science","display_name":"Computer science","score":0.7190704941749573},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.637924075126648},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6181264519691467},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.557745099067688},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5279181003570557},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5229933261871338},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4778549373149872},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4720640480518341},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3420562446117401},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33526965975761414},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.12538018822669983},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10446304082870483},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.07622474431991577}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7190704941749573},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.637924075126648},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6181264519691467},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.557745099067688},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5279181003570557},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5229933261871338},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4778549373149872},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4720640480518341},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3420562446117401},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33526965975761414},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.12538018822669983},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10446304082870483},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.07622474431991577}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3415109","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3415109","pdf_url":null,"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:ae361d28d634470e8c7f83059f6c1840","is_oa":true,"landing_page_url":"https://doaj.org/article/ae361d28d634470e8c7f83059f6c1840","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 12, Pp 85735-85744 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3415109","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3415109","pdf_url":null,"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/13","score":0.5799999833106995,"display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G4794712146","display_name":null,"funder_award_id":"HY-2021-2592","funder_id":"https://openalex.org/F4320321142","funder_display_name":"Hanyang University"}],"funders":[{"id":"https://openalex.org/F4320321142","display_name":"Hanyang University","ror":"https://ror.org/046865y68"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1492287580","https://openalex.org/W1601397300","https://openalex.org/W2030016900","https://openalex.org/W2031738727","https://openalex.org/W2036439337","https://openalex.org/W2102537836","https://openalex.org/W2110762409","https://openalex.org/W2115200209","https://openalex.org/W2141841102","https://openalex.org/W2468062401","https://openalex.org/W2551182329","https://openalex.org/W2766203889","https://openalex.org/W2950069298","https://openalex.org/W2963146864","https://openalex.org/W2968156685","https://openalex.org/W3045522824","https://openalex.org/W3048356206","https://openalex.org/W3091339721","https://openalex.org/W3093163644","https://openalex.org/W3103581036","https://openalex.org/W3104753760","https://openalex.org/W3121863680","https://openalex.org/W3127875737","https://openalex.org/W3155139829","https://openalex.org/W3203645530","https://openalex.org/W3212905267","https://openalex.org/W4382318687","https://openalex.org/W4385480993","https://openalex.org/W4389665846","https://openalex.org/W6784012784"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W2889566344","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4381746183"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,62,94,129,176],"novel":[4],"algorithm":[5,85,92,102,127,160],"that":[6,157],"enhances":[7],"the":[8,15,58,67,81,87,122,125,154,158,162,178,197],"efficiency":[9,188],"of":[10,124,132,164,199],"robotic":[11,36,200],"manipulation":[12,37,201],"by":[13,35,116,149],"enabling":[14],"robot":[16,59],"to":[17,28,65,74,136,144,151,172],"reach":[18,66],"its":[19],"target":[20,68],"with":[21,110,205],"fewer":[22],"obstacles":[23],"being":[24],"removed,":[25],"thus":[26],"leading":[27],"faster":[29,140],"performance":[30,141,169],"times.":[31],"The":[32,101],"challenges":[33],"faced":[34],"in":[38,105,186,202],"complex":[39],"and":[40,93,138,167,192],"cluttered":[41,206],"environments":[42,109],"(e.g.,":[43],"supermarkets,":[44],"factories,":[45],"etc.),":[46],"where":[47],"changes":[48],"are":[49,52],"constantly":[50],"occurring,":[51],"well-known.":[53],"To":[54,78],"tackle":[55],"these":[56],"challenges,":[57],"should":[60],"generate":[61],"collision-free":[63],"path":[64],"while":[69],"requiring":[70],"minimal":[71],"obstacle":[72,133,165],"relocation":[73],"improve":[75],"task":[76,83,187],"efficiency.":[77],"achieve":[79],"this,":[80],"proposed":[82,126,159,179],"planning":[84],"incorporates":[86],"Rapidly-exploring":[88],"Random":[89],"Tree":[90],"(RRT)":[91],"modified":[95],"Vector":[96],"Field":[97],"Histogram":[98],"Plus":[99],"(VFH+).":[100],"was":[103,181],"tested":[104],"simulated":[106],"service":[107,203],"domain":[108],"objects":[111],"placed":[112],"on":[113],"shelves":[114],"followed":[115],"real-robot":[117],"experiments.":[118],"In":[119],"both":[120],"experiments,":[121],"results":[123,155],"demonstrated":[128],"lower":[130],"number":[131,163],"removals":[134],"(up":[135],"37%)":[137],"consequently":[139],"times":[142],"compared":[143,171],"other":[145],"existing":[146,173],"methods":[147],"(improved":[148],"up":[150],"36%).":[152],"Thus,":[153],"showed":[156],"reduces":[161],"relocations":[166],"improves":[168],"time":[170],"methods.":[174],"As":[175],"result,":[177],"method":[180],"evaluated":[182],"as":[183],"an":[184],"improvement":[185],"over":[189],"previous":[190],"approaches":[191],"has":[193],"significant":[194],"implications":[195],"for":[196],"use":[198],"domains":[204],"environments.":[207]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}