{"id":"https://openalex.org/W4403676230","doi":"https://doi.org/10.1109/case59546.2024.10711751","title":"Planning of Collision-Free Trajectories for Robotic Manipulation and Management of DOFs for Positional Targets","display_name":"Planning of Collision-Free Trajectories for Robotic Manipulation and Management of DOFs for Positional Targets","publication_year":2024,"publication_date":"2024-08-28","ids":{"openalex":"https://openalex.org/W4403676230","doi":"https://doi.org/10.1109/case59546.2024.10711751"},"language":"en","primary_location":{"id":"doi:10.1109/case59546.2024.10711751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case59546.2024.10711751","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 20th 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/A5005845929","display_name":"Paolo Lino","orcid":"https://orcid.org/0000-0003-3583-7962"},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Paolo Lino","raw_affiliation_strings":["Polytechnic University of Bari,Dept. of Electrical and Information Engineering,Bari,Italy"],"affiliations":[{"raw_affiliation_string":"Polytechnic University of Bari,Dept. of Electrical and Information Engineering,Bari,Italy","institution_ids":["https://openalex.org/I68618741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114372285","display_name":"Riccardo Raimondi","orcid":null},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Riccardo Raimondi","raw_affiliation_strings":["Polytechnic University of Bari,Dept. of Electrical and Information Engineering,Bari,Italy"],"affiliations":[{"raw_affiliation_string":"Polytechnic University of Bari,Dept. of Electrical and Information Engineering,Bari,Italy","institution_ids":["https://openalex.org/I68618741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023534711","display_name":"Nicola Longo","orcid":"https://orcid.org/0000-0002-2804-0368"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nicola Longo","raw_affiliation_strings":["Automation Systems - Comau SpA,Bari,Italy"],"affiliations":[{"raw_affiliation_string":"Automation Systems - Comau SpA,Bari,Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114372286","display_name":"Antonio Venezia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Antonio Venezia","raw_affiliation_strings":["Automation Systems - Comau SpA,Bari,Italy"],"affiliations":[{"raw_affiliation_string":"Automation Systems - Comau SpA,Bari,Italy","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082309444","display_name":"Simone Panicucci","orcid":"https://orcid.org/0000-0002-0670-4485"},"institutions":[{"id":"https://openalex.org/I4210156790","display_name":"Bitron (Italy)","ror":"https://ror.org/04wfxgv30","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210156790"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simone Panicucci","raw_affiliation_strings":["Innovation - Comau SpA,Grugliasco,Italy"],"affiliations":[{"raw_affiliation_string":"Innovation - Comau SpA,Grugliasco,Italy","institution_ids":["https://openalex.org/I4210156790"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5005845929"],"corresponding_institution_ids":["https://openalex.org/I68618741"],"apc_list":null,"apc_paid":null,"fwci":0.275,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.55433809,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"878","last_page":"883"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9828000068664551,"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":0.9828000068664551,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9642000198364258,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9290000200271606,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.6312780380249023},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5519610047340393},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5206955075263977},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4930884540081024},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.490375280380249},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3947839140892029},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3775287866592407},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2890841066837311},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11090803146362305},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10231584310531616}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6312780380249023},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5519610047340393},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5206955075263977},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4930884540081024},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.490375280380249},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3947839140892029},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3775287866592407},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2890841066837311},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11090803146362305},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10231584310531616},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case59546.2024.10711751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case59546.2024.10711751","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1536373029","https://openalex.org/W2019965290","https://openalex.org/W2028173473","https://openalex.org/W2099893201","https://openalex.org/W2141664020","https://openalex.org/W2142224528","https://openalex.org/W3006544225","https://openalex.org/W3212826513","https://openalex.org/W4293232200","https://openalex.org/W4312602775","https://openalex.org/W4387143892"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4381746183","https://openalex.org/W2903025760","https://openalex.org/W4289147272"],"abstract_inverted_index":{"This":[0],"work":[1],"aims":[2],"to":[3,12,59,70,137],"identify":[4],"a":[5,90,122],"suitable":[6],"ROS-based":[7],"motion":[8,82,117],"planning":[9,83,126],"pipeline":[10,127],"able":[11],"generate":[13],"optimal":[14],"collision-free":[15],"trajectories":[16],"for":[17,28],"robotic":[18],"manipulation":[19,132],"and":[20,22,81,114],"manage":[21],"exploit":[23],"additional":[24,41],"degrees":[25],"of":[26,44,48,62,78],"freedom":[27,45],"positional":[29,74],"targets.":[30],"Given":[31],"an":[32,40],"arbitrary":[33],"target":[34],"pose,":[35],"the":[36,49,63,66,72,100,103,107,111,115,139],"manipulator":[37],"is":[38,128],"granted":[39],"rotational":[42],"degree":[43],"along":[46],"one":[47,61],"end":[50],"effector":[51],"frame\u2019s":[52],"axes.":[53],"Suitable":[54],"performance":[55,109],"indices":[56,80,113],"are":[57,85,110],"used":[58],"select":[60],"configurations":[64],"that":[65,105],"robot":[67],"may":[68],"attain":[69],"reach":[71],"assigned":[73,140],"target.":[75],"The":[76,94,124],"performances":[77],"several":[79],"pipelines":[84],"evaluated":[86],"through":[87],"benchmarks":[88],"on":[89],"6-axis":[91],"anthropomorphic":[92],"manipulator.":[93],"experimental":[95],"results":[96],"show":[97],"that,":[98],"among":[99],"various":[101],"candidates,":[102],"ones":[104],"achieved":[106],"best":[108],"distance-based":[112],"SBL":[116],"planner":[118],"with":[119],"STOMP":[120],"as":[121],"post-processor.":[123],"definitive":[125],"validated":[129],"in":[130],"real":[131],"scenarios,":[133],"where":[134],"it":[135],"manages":[136],"fulfill":[138],"tasks.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}