{"id":"https://openalex.org/W2980998787","doi":"https://doi.org/10.1109/aim.2019.8868747","title":"Graph-Based Cooperative Robot Path Planning in Agricultural Environments","display_name":"Graph-Based Cooperative Robot Path Planning in Agricultural Environments","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2980998787","doi":"https://doi.org/10.1109/aim.2019.8868747","mag":"2980998787"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2019.8868747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868747","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","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/A5061522471","display_name":"Hemanth Sarabu","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hemanth Sarabu","raw_affiliation_strings":["School of Computational Science and Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"School of Computational Science and Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088780213","display_name":"Konrad Ahlin","orcid":null},"institutions":[{"id":"https://openalex.org/I4388482740","display_name":"Georgia Tech Research Institute","ror":"https://ror.org/04qfrh333","country_code":null,"type":"facility","lineage":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]},{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Konrad Ahlin","raw_affiliation_strings":["Georgia Tech Research Institute, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Georgia Tech Research Institute, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110691789","display_name":"Ai-Ping Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4388482740","display_name":"Georgia Tech Research Institute","ror":"https://ror.org/04qfrh333","country_code":null,"type":"facility","lineage":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ai-Ping Hu","raw_affiliation_strings":["Georgia Tech Research Institute, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Georgia Tech Research Institute, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5061522471"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":0.7155,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.75648363,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"2019","issue":null,"first_page":"519","last_page":"525"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965000152587891,"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":0.9965000152587891,"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/T10616","display_name":"Smart Agriculture and AI","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9912999868392944,"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/grasp","display_name":"GRASP","score":0.7683625221252441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7417377829551697},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6623073220252991},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6332767009735107},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6250839233398438},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6170514225959778},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5654076933860779},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5614351034164429},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5317617058753967},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5220006704330444},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.44483137130737305},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.41974714398384094},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.13843756914138794}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7683625221252441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7417377829551697},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6623073220252991},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6332767009735107},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6250839233398438},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6170514225959778},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5654076933860779},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5614351034164429},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5317617058753967},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5220006704330444},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.44483137130737305},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.41974714398384094},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.13843756914138794},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/aim.2019.8868747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868747","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},{"id":"mag:3034766941","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=201902257086198143","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1982619891","https://openalex.org/W2001656713","https://openalex.org/W2017118487","https://openalex.org/W2045030913","https://openalex.org/W2069269368","https://openalex.org/W2071390953","https://openalex.org/W2141664020","https://openalex.org/W2467954037","https://openalex.org/W2573063466","https://openalex.org/W2766052397","https://openalex.org/W2766822417","https://openalex.org/W2885121946","https://openalex.org/W2900657351","https://openalex.org/W2963037989","https://openalex.org/W2967543317","https://openalex.org/W3099828420"],"related_works":["https://openalex.org/W2389377526","https://openalex.org/W2283162247","https://openalex.org/W4212983513","https://openalex.org/W2524507886","https://openalex.org/W2314488738","https://openalex.org/W2052518016","https://openalex.org/W2771653066","https://openalex.org/W2085956791","https://openalex.org/W2901949253","https://openalex.org/W2534457604"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,91,100,116,150,162],"method":[4,101],"of":[5,137],"using":[6,99,138],"dual":[7],"robot":[8,35],"arms":[9],"to":[10,45,57,78,89,96,123,129,145],"cooperatively":[11],"pick":[12],"apples":[13,59,80],"in":[14,29],"an":[15,24,30],"unstructured":[16],"orchard":[17],"environment.":[18],"Each":[19],"arm":[20,87],"is":[21,41,72,76,113,120],"equipped":[22],"with":[23,50],"RGB-D":[25],"(color-":[26],"plus-depth)":[27],"camera":[28,56],"eye-in-hand":[31],"configuration.":[32],"The":[33,68],"first":[34],"arm,":[36,40,71],"termed":[37],"the":[38,46,85,135],"Grasp":[39],"positioned":[42],"relatively":[43],"close":[44],"tree":[47],"and":[48,64,75,88,109,126,155],"designated":[49],"picking":[51],"apples.":[52],"It":[53,133],"uses":[54],"its":[55],"locate":[58],"that":[60,81,119],"are":[61,82,158],"within":[62,66],"view":[63],"also":[65],"reach.":[67],"second":[69],"Search":[70],"located":[73],"nearby":[74],"used":[77],"detect":[79],"hidden":[83],"from":[84],"grasp":[86],"plan":[90],"clear":[92,110,139],"path":[93,111],"for":[94,141],"it":[95],"those":[97],"fruits":[98],"based":[102,160],"on":[103,161],"rapidly-exploring":[104],"random":[105],"trees.":[106],"Fruit":[107],"location":[108],"information":[112],"encoded":[114],"into":[115],"graph":[117],"representation":[118],"expressive":[121],"enough":[122],"encode":[124],"memory":[125],"lends":[127],"itself":[128],"various":[130],"decision-making":[131],"algorithms.":[132],"embodies":[134],"idea":[136],"paths":[140],"planning,":[142],"as":[143],"opposed":[144],"mapping":[146],"obstacles,":[147],"hence":[148],"maintaining":[149],"lower-dimensional":[151],"representation.":[152],"Computer":[153],"simulation":[154],"experimental":[156],"results":[157],"presented":[159],"preliminary":[163],"implementation.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}