{"id":"https://openalex.org/W4312564079","doi":"https://doi.org/10.1109/case49997.2022.9926722","title":"Optimal Shelf Arrangement to Minimize Robot Retrieval Time","display_name":"Optimal Shelf Arrangement to Minimize Robot Retrieval Time","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W4312564079","doi":"https://doi.org/10.1109/case49997.2022.9926722"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926722","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926722","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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/A5046035699","display_name":"Lawrence Yunliang Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210153740","display_name":"Berkeley Systems (United States)","ror":"https://ror.org/05sb0mt20","country_code":"US","type":"company","lineage":["https://openalex.org/I4210153740"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Lawrence Yunliang Chen","raw_affiliation_strings":["The AUTOLab at UC Berkeley"],"affiliations":[{"raw_affiliation_string":"The AUTOLab at UC Berkeley","institution_ids":["https://openalex.org/I4210153740","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100340329","display_name":"Huang Huang","orcid":"https://orcid.org/0000-0002-1296-4363"},"institutions":[{"id":"https://openalex.org/I4210153740","display_name":"Berkeley Systems (United States)","ror":"https://ror.org/05sb0mt20","country_code":"US","type":"company","lineage":["https://openalex.org/I4210153740"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huang Huang","raw_affiliation_strings":["The AUTOLab at UC Berkeley"],"affiliations":[{"raw_affiliation_string":"The AUTOLab at UC Berkeley","institution_ids":["https://openalex.org/I4210153740","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084920041","display_name":"Michael Danielczuk","orcid":"https://orcid.org/0000-0002-3858-2312"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]},{"id":"https://openalex.org/I4210153740","display_name":"Berkeley Systems (United States)","ror":"https://ror.org/05sb0mt20","country_code":"US","type":"company","lineage":["https://openalex.org/I4210153740"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Danielczuk","raw_affiliation_strings":["The AUTOLab at UC Berkeley"],"affiliations":[{"raw_affiliation_string":"The AUTOLab at UC Berkeley","institution_ids":["https://openalex.org/I4210153740","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005587345","display_name":"Jeffrey Ichnowski","orcid":"https://orcid.org/0000-0003-4874-9478"},"institutions":[{"id":"https://openalex.org/I4210153740","display_name":"Berkeley Systems (United States)","ror":"https://ror.org/05sb0mt20","country_code":"US","type":"company","lineage":["https://openalex.org/I4210153740"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeffrey Ichnowski","raw_affiliation_strings":["The AUTOLab at UC Berkeley"],"affiliations":[{"raw_affiliation_string":"The AUTOLab at UC Berkeley","institution_ids":["https://openalex.org/I4210153740","https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050342525","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0002-2661-4524"},"institutions":[{"id":"https://openalex.org/I4210153740","display_name":"Berkeley Systems (United States)","ror":"https://ror.org/05sb0mt20","country_code":"US","type":"company","lineage":["https://openalex.org/I4210153740"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["The AUTOLab at UC Berkeley"],"affiliations":[{"raw_affiliation_string":"The AUTOLab at UC Berkeley","institution_ids":["https://openalex.org/I4210153740","https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5046035699"],"corresponding_institution_ids":["https://openalex.org/I4210153740","https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.8639,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.68868187,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12288","display_name":"Optimization and Search Problems","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9922999739646912,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9916999936103821,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/off-the-shelf","display_name":"Off the shelf","score":0.6971675157546997},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6813868880271912},{"id":"https://openalex.org/keywords/fetch","display_name":"Fetch","score":0.5749124884605408},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5511731505393982},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46877947449684143},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4629906415939331},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2902732491493225}],"concepts":[{"id":"https://openalex.org/C2982819384","wikidata":"https://www.wikidata.org/wiki/Q7078910","display_name":"Off the shelf","level":2,"score":0.6971675157546997},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6813868880271912},{"id":"https://openalex.org/C131918245","wikidata":"https://www.wikidata.org/wiki/Q1409090","display_name":"Fetch","level":2,"score":0.5749124884605408},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5511731505393982},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46877947449684143},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4629906415939331},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2902732491493225},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case49997.2022.9926722","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926722","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320307897","display_name":"Autodesk","ror":"https://ror.org/00pkt4594"},{"id":"https://openalex.org/F4320309327","display_name":"Google","ror":"https://ror.org/00njsd438"},{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null},{"id":"https://openalex.org/F4320322923","display_name":"Siemens","ror":"https://ror.org/059mq0909"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4214970455","https://openalex.org/W2175646991","https://openalex.org/W2027386296","https://openalex.org/W2614583728","https://openalex.org/W2138256251","https://openalex.org/W1910690003","https://openalex.org/W2128177192","https://openalex.org/W2068882541","https://openalex.org/W2142694456","https://openalex.org/W1999817486"],"abstract_inverted_index":{"Shelves":[0],"are":[1],"commonly":[2],"used":[3],"to":[4,25,162],"store":[5],"objects":[6,30,102,134],"in":[7,73,143,164],"homes,":[8],"stores,":[9],"and":[10,41,66,82,113,126,146],"warehouses.":[11],"We":[12,47,77],"formulate":[13],"the":[14,22,27,104,133,137,148,156],"problem":[15],"of":[16,29],"Optimal":[17],"Shelf":[18],"Arrangement":[19],"(OSA),":[20],"where":[21],"goal":[23],"is":[24,169],"optimize":[26],"arrangement":[28,92],"on":[31,69],"a":[32,50,80,117,123],"shelf":[33,84,111],"for":[34,44,61,87],"access":[35,39],"time":[36],"given":[37],"an":[38,58,91],"frequency":[40],"movement":[42],"cost":[43,75,140,151],"each":[45],"object.":[46],"propose":[48],"OSA-MIP,":[49],"mixed-integer":[51],"program":[52],"(MIP),":[53],"show":[54],"that":[55,94,131],"it":[56],"finds":[57],"optimal":[59],"solution":[60],"OSA":[62],"under":[63],"certain":[64],"conditions,":[65],"provide":[67],"bounds":[68],"its":[70],"suboptimal":[71],"solutions":[72],"general":[74],"settings.":[76],"analytically":[78],"characterize":[79],"necessary":[81],"sufficient":[83],"density":[85],"condition":[86],"which":[88],"there":[89],"exists":[90],"such":[93],"any":[95],"object":[96],"can":[97],"be":[98],"retrieved":[99],"without":[100],"removing":[101],"from":[103,108],"shelf.":[105],"Experimental":[106],"data":[107],"1,575":[109],"simulated":[110],"trials":[112,115],"54":[114],"with":[116,122],"physical":[118],"Fetch":[119],"robot":[120],"equipped":[121],"pushing":[124],"blade":[125],"suction":[127],"grasping":[128],"tool":[129],"suggest":[130],"arranging":[132],"optimally":[135],"reduces":[136,147],"expected":[138,149],"retrieval":[139],"by":[141,152,160],"60\u201380%":[142],"fully-observed":[144],"configurations":[145],"search":[150,157],"50\u201370%":[153],"while":[154],"increasing":[155],"success":[158],"rate":[159],"up":[161],"2x":[163],"partially-observed":[165],"configurations.":[166],"Supplementary":[167],"material":[168],"available":[170],"at":[171],"https://sites.google.com/berkeley.edu/osa.":[172]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
