{"id":"https://openalex.org/W2569743524","doi":"https://doi.org/10.1109/cdc.2016.7799278","title":"High-level planner synthesis for whole-body locomotion in unstructured environments","display_name":"High-level planner synthesis for whole-body locomotion in unstructured environments","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2569743524","doi":"https://doi.org/10.1109/cdc.2016.7799278","mag":"2569743524"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2016.7799278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7799278","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","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/A5023643969","display_name":"Ye Zhao","orcid":"https://orcid.org/0000-0001-6402-5416"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ye Zhao","raw_affiliation_strings":["Human Centered Robotics Laboratory, the Department of Mechanical Engineering, at The University of Texas at Austin, USA","Department of Mechanical Engineering, The University of Texas, Austin, USA"],"affiliations":[{"raw_affiliation_string":"Human Centered Robotics Laboratory, the Department of Mechanical Engineering, at The University of Texas at Austin, USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Texas, Austin, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068441112","display_name":"Ufuk Topcu","orcid":"https://orcid.org/0000-0003-0819-9985"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ufuk Topcu","raw_affiliation_strings":["Department of Aerospace Engineering and Engineering Mechanics, at The University of Texas at Austin, USA","Department of Aerospace Engineering and Engineering Mechanics, The University of Texas, Austin, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering and Engineering Mechanics, at The University of Texas at Austin, USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Aerospace Engineering and Engineering Mechanics, The University of Texas, Austin, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079374033","display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["Human Centered Robotics Laboratory, the Department of Mechanical Engineering, at The University of Texas at Austin, USA","Department of Mechanical Engineering, The University of Texas, Austin, USA"],"affiliations":[{"raw_affiliation_string":"Human Centered Robotics Laboratory, the Department of Mechanical Engineering, at The University of Texas at Austin, USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Texas, Austin, USA","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5023643969"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":1.0494,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.78048582,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6557","last_page":"6564"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12810","display_name":"Real-time simulation and control systems","score":0.991599977016449,"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/T11450","display_name":"Model-Driven Software Engineering Techniques","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/planner","display_name":"Planner","score":0.8334094285964966},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.79133141040802},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7447348237037659},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.678570568561554},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6304887533187866},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5884385704994202},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42542874813079834},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3742750883102417},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3219758868217468},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.18034011125564575},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11637702584266663}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8334094285964966},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.79133141040802},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7447348237037659},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.678570568561554},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6304887533187866},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5884385704994202},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42542874813079834},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3742750883102417},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3219758868217468},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18034011125564575},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11637702584266663},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2016.7799278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7799278","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1498432697","https://openalex.org/W1552094772","https://openalex.org/W1563854815","https://openalex.org/W2018380024","https://openalex.org/W2020883449","https://openalex.org/W2033480951","https://openalex.org/W2041701185","https://openalex.org/W2064572756","https://openalex.org/W2074042377","https://openalex.org/W2088429149","https://openalex.org/W2092517048","https://openalex.org/W2095274657","https://openalex.org/W2138419444","https://openalex.org/W2151958719","https://openalex.org/W2167372206","https://openalex.org/W2254640530","https://openalex.org/W2410313329","https://openalex.org/W2410490794","https://openalex.org/W2470448410","https://openalex.org/W2524411080","https://openalex.org/W2545385919","https://openalex.org/W2547678094","https://openalex.org/W2561317542","https://openalex.org/W2737617799","https://openalex.org/W6672413885","https://openalex.org/W6674485495","https://openalex.org/W6741762303"],"related_works":["https://openalex.org/W1667647204","https://openalex.org/W2404647514","https://openalex.org/W4247536566","https://openalex.org/W2018477250","https://openalex.org/W3119814709","https://openalex.org/W4241418540","https://openalex.org/W1508895727","https://openalex.org/W804484174","https://openalex.org/W1568779110","https://openalex.org/W2725786787"],"abstract_inverted_index":{"Contact-based":[0],"decision":[1],"and":[2,21,70],"planning":[3,32],"methods":[4,17],"are":[5,94],"increasingly":[6],"being":[7],"sought":[8],"for":[9,34,53],"task":[10,51,82,125],"execution":[11,120],"in":[12,38,56,85,138],"humanoid":[13,39],"robots.":[14,40],"However,":[15],"formal":[16],"from":[18],"the":[19,30,67,80,118,122,130,142,145],"verification":[20],"synthesis":[22],"communities":[23],"have":[24],"not":[25],"been":[26],"yet":[27],"incorporated":[28],"into":[29],"motion":[31,101],"sequence":[33],"complex":[35],"mobility":[36],"behaviors":[37],"This":[41],"study":[42],"takes":[43],"a":[44,61,86,97],"step":[45],"toward":[46],"formally":[47],"synthesizing":[48],"high-level":[49],"reactive":[50],"planners":[52],"whole-body":[54],"locomotion":[55,108,137],"unstructured":[57,139],"environments.":[58],"We":[59,104],"formulate":[60],"two-player":[62],"temporal":[63,89],"logic":[64],"game":[65],"between":[66],"contact":[68],"planner":[69,78,102,126,147],"its":[71],"possibly":[72],"adversarial":[73],"environment.":[74],"The":[75,91],"resulting":[76,92],"discrete":[77,124],"satisfies":[79],"given":[81],"specifications":[83],"expressed":[84],"fragment":[87],"of":[88,117,121,135,144],"logic.":[90],"commands":[93],"executed":[95],"by":[96],"low-level":[98,107,119],"3D":[99],"phase-space":[100],"algorithm.":[103],"devise":[105],"various":[106],"modes":[109],"based":[110],"on":[111],"centroidal":[112],"momentum":[113],"dynamics.":[114],"Provable":[115],"correctness":[116],"synthesized":[123],"is":[127],"guaranteed":[128],"through":[129],"so-called":[131],"simulation":[132],"relations.":[133],"Simulations":[134],"dynamic":[136],"environments":[140],"support":[141],"effectiveness":[143],"hierarchical":[146],"protocol.":[148]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}
