{"id":"https://openalex.org/W2009783513","doi":"https://doi.org/10.1109/aim.2014.6878215","title":"Efficient motion planning for quasi-static elastic rods using geometry neighborhood approximation","display_name":"Efficient motion planning for quasi-static elastic rods using geometry neighborhood approximation","publication_year":2014,"publication_date":"2014-07-01","ids":{"openalex":"https://openalex.org/W2009783513","doi":"https://doi.org/10.1109/aim.2014.6878215","mag":"2009783513"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2014.6878215","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2014.6878215","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics","raw_type":"proceedings-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/A5101452045","display_name":"Olivier Roussel","orcid":"https://orcid.org/0000-0001-9709-2404"},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Olivier Roussel","raw_affiliation_strings":["CNRS, LAAS, Univ, Toulouse, France","\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes"],"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Univ, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063956676","display_name":"Michel Ta\u00efx","orcid":"https://orcid.org/0000-0001-7822-1848"},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Michel Taix","raw_affiliation_strings":["CNRS, LAAS, Univ, Toulouse, France","\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes"],"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Univ, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090037830","display_name":"Timothy Bretl","orcid":"https://orcid.org/0000-0001-7883-7300"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Timothy Bretl","raw_affiliation_strings":["Department of Aerospace Engineering, University of Illinois at Urbana-Champaign","University of Illinois at Urbana Champaign"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Illinois at Urbana-Champaign","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"University of Illinois at Urbana Champaign","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101452045"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I17866349","https://openalex.org/I190497903"],"apc_list":null,"apc_paid":null,"fwci":1.2194,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.82676118,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1024","last_page":"1029"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9991999864578247,"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/parameterized-complexity","display_name":"Parameterized complexity","score":0.6511688232421875},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6006740927696228},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5996721982955933},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5940357446670532},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.5895585417747498},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5280231833457947},{"id":"https://openalex.org/keywords/rod","display_name":"Rod","score":0.5249649882316589},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.49929261207580566},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.45035064220428467},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.43658146262168884},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.43635886907577515},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.4212481677532196},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.39440616965293884},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3900775909423828},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37793612480163574},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3154185712337494},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17976737022399902},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15347841382026672},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12972351908683777},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.0957198441028595}],"concepts":[{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.6511688232421875},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6006740927696228},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5996721982955933},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5940357446670532},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.5895585417747498},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5280231833457947},{"id":"https://openalex.org/C162184086","wikidata":"https://www.wikidata.org/wiki/Q505544","display_name":"Rod","level":3,"score":0.5249649882316589},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.49929261207580566},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.45035064220428467},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.43658146262168884},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.43635886907577515},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.4212481677532196},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.39440616965293884},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3900775909423828},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37793612480163574},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3154185712337494},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17976737022399902},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15347841382026672},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12972351908683777},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0957198441028595},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2014.6878215","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2014.6878215","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8100000023841858,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1604206505","https://openalex.org/W1974032213","https://openalex.org/W1982944008","https://openalex.org/W2004139909","https://openalex.org/W2006104867","https://openalex.org/W2014453071","https://openalex.org/W2039050554","https://openalex.org/W2043042987","https://openalex.org/W2097006037","https://openalex.org/W2101073745","https://openalex.org/W2109834210","https://openalex.org/W2110762409","https://openalex.org/W2116039148","https://openalex.org/W2116162693","https://openalex.org/W2141664020","https://openalex.org/W2159722616","https://openalex.org/W2159791647","https://openalex.org/W2562214367","https://openalex.org/W6636130414"],"related_works":["https://openalex.org/W2047218869","https://openalex.org/W2005695917","https://openalex.org/W2333571655","https://openalex.org/W3004930912","https://openalex.org/W2104320275","https://openalex.org/W2111158727","https://openalex.org/W1510039162","https://openalex.org/W2112736381","https://openalex.org/W2120794627","https://openalex.org/W2106317420"],"abstract_inverted_index":{"We":[0,90],"present":[1],"a":[2,7,22,31],"motion":[3,82],"planning":[4,83],"algorithm":[5,51],"for":[6],"quasi-static":[8,19],"Kirchhoff":[9],"elastic":[10],"rod":[11],"in":[12,62],"complex":[13],"environments.":[14],"As":[15],"the":[16,34,66,73,92],"set":[17],"of":[18,54,68,75,94],"deformations":[20],"defines":[21],"finite":[23],"dimensional":[24],"manifold":[25],"that":[26],"can":[27,78],"be":[28,79],"parameterized":[29],"by":[30],"single":[32],"chart,":[33],"configuration":[35],"space":[36],"formulation":[37],"extends":[38],"nicely":[39],"to":[40,57,85],"this":[41,76],"deformation":[42],"space.":[43],"This":[44],"parameterization":[45],"is":[46],"computationally":[47],"expensive":[48],"and":[49,100],"our":[50,95],"takes":[52],"advantage":[53],"its":[55,63],"linearization":[56],"perform":[58],"fast":[59],"collision":[60],"checking":[61],"neighborhood.":[64],"In":[65],"context":[67],"physically":[69],"realistic":[70],"deformable":[71],"rods,":[72],"efficiency":[74],"approximation":[77],"coupled":[80],"with":[81],"techniques":[84],"obtain":[86],"significant":[87],"performance":[88],"improvements.":[89],"demonstrate":[91],"effectiveness":[93],"approach":[96],"on":[97],"various":[98],"toy":[99],"industrial":[101],"scenarios.":[102]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}