{"id":"https://openalex.org/W2784180148","doi":"https://doi.org/10.1109/coase.2017.8256092","title":"Robust shared autonomy for mobile manipulation with continuous scene monitoring","display_name":"Robust shared autonomy for mobile manipulation with continuous scene monitoring","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2784180148","doi":"https://doi.org/10.1109/coase.2017.8256092","mag":"2784180148"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2017.8256092","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2017.8256092","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/en/publications/fd79d154-a118-4ed8-a632-86f3346fae13","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036958906","display_name":"Wolfgang Merkt","orcid":"https://orcid.org/0000-0003-3235-4906"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Wolfgang Merkt","raw_affiliation_strings":["School of Informatics, Informatics Forum, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, Informatics Forum, Edinburgh, United Kingdom","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101421479","display_name":"Yiming Yang","orcid":"https://orcid.org/0000-0002-9755-2711"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yiming Yang","raw_affiliation_strings":["School of Informatics, Informatics Forum, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, Informatics Forum, Edinburgh, United Kingdom","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008547414","display_name":"Theodoros Stouraitis","orcid":"https://orcid.org/0000-0002-6345-892X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Theodoros Stouraitis","raw_affiliation_strings":["School of Informatics, Informatics Forum, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, Informatics Forum, Edinburgh, United Kingdom","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074827482","display_name":"Christopher E. Mower","orcid":"https://orcid.org/0000-0002-3929-9391"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Christopher E. Mower","raw_affiliation_strings":["School of Informatics, Informatics Forum, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, Informatics Forum, Edinburgh, United Kingdom","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072974727","display_name":"Maurice Fallon","orcid":"https://orcid.org/0000-0003-2940-0879"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]},{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maurice Fallon","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford, Oxford, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, Oxford, United Kingdom","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["School of Informatics, Informatics Forum, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, Informatics Forum, Edinburgh, United Kingdom","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5036958906"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.647,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.79576836,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"130","last_page":"137"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9987999796867371,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6798920631408691},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.5689299702644348},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5091087222099304},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3266430199146271},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.083444744348526}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6798920631408691},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.5689299702644348},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5091087222099304},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3266430199146271},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.083444744348526},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/coase.2017.8256092","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2017.8256092","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:publications/fd79d154-a118-4ed8-a632-86f3346fae13","is_oa":true,"landing_page_url":null,"pdf_url":"https://www.research.ed.ac.uk/en/publications/fd79d154-a118-4ed8-a632-86f3346fae13","source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:pure.ed.ac.uk:publications/fd79d154-a118-4ed8-a632-86f3346fae13","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/fd79d154-a118-4ed8-a632-86f3346fae13","pdf_url":"https://www.research.ed.ac.uk/en/publications/fd79d154-a118-4ed8-a632-86f3346fae13","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Merkt, W, Yang, Y, Stouraitis, T, Mower, C, Fallon, M & Vijayakumar, S 2018, Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring. in 2017 13th IEEE Conference on Automation Science and Engineering (CASE). pp. 130-137, 2017 13th IEEE Conference on Automation Science and Engineering, Xi'an, China, 20/08/17. https://doi.org/10.1109/COASE.2017.8256092","raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:publications/fd79d154-a118-4ed8-a632-86f3346fae13","is_oa":true,"landing_page_url":null,"pdf_url":"https://www.research.ed.ac.uk/en/publications/fd79d154-a118-4ed8-a632-86f3346fae13","source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},"sustainable_development_goals":[{"score":0.5699999928474426,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1934935867","display_name":null,"funder_award_id":"Engineering and Physical Sciences R","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5236108550","display_name":null,"funder_award_id":"1795793","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6244725262","display_name":null,"funder_award_id":"Centre for Doctoral Training","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6653872853","display_name":null,"funder_award_id":"EP/L016","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8675054711","display_name":"EPSRC Centre for Doctoral Training in Robotics and Autonomous Systems (RAS) in Edinburgh","funder_award_id":"EP/L016834/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2784180148.pdf","grobid_xml":"https://content.openalex.org/works/W2784180148.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1516488188","https://openalex.org/W1552815313","https://openalex.org/W1706049732","https://openalex.org/W1716229439","https://openalex.org/W1865167374","https://openalex.org/W1876900421","https://openalex.org/W1898154573","https://openalex.org/W1932070914","https://openalex.org/W1951089663","https://openalex.org/W2016507181","https://openalex.org/W2021153885","https://openalex.org/W2074070730","https://openalex.org/W2122219027","https://openalex.org/W2125298120","https://openalex.org/W2131865378","https://openalex.org/W2133844819","https://openalex.org/W2141664020","https://openalex.org/W2176690447","https://openalex.org/W2204626327","https://openalex.org/W2498804094","https://openalex.org/W2514828909","https://openalex.org/W2533352770","https://openalex.org/W2566646261","https://openalex.org/W2570226530","https://openalex.org/W2770550065","https://openalex.org/W2962817082","https://openalex.org/W4294352955","https://openalex.org/W6679875354"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"This":[0],"work":[1,110,132],"presents":[2],"a":[3,35,62],"fully":[4],"integrated":[5],"system":[6,55,96],"for":[7,144],"reliable":[8],"grasping":[9],"and":[10,19,46,66,90,106,117,157,160],"manipulation":[11],"using":[12],"dense":[13],"visual":[14],"mapping,":[15],"collision-free":[16],"motion":[17,24],"planning,":[18],"shared":[20,122],"autonomy.":[21],"The":[22,54],"particular":[23],"sequences":[25],"are":[26],"composed":[27],"automatically":[28,44,59],"based":[29],"on":[30,111],"high-level":[31],"objectives":[32],"provided":[33],"by":[34],"human":[36],"operator,":[37],"with":[38],"continuous":[39],"scene":[40],"monitoring":[41],"during":[42],"execution":[43],"detecting":[45],"adapting":[47],"to":[48,58,69,99,102,137,150],"dynamic":[49],"changes":[50],"of":[51,64,128],"the":[52,70,82,126,135,139],"environment.":[53],"is":[56,97,133],"able":[57],"recover":[60],"from":[61],"variety":[63],"disturbances":[65],"fall":[67],"back":[68],"operator":[71,83],"if":[72,75],"stuck":[73],"or":[74],"it":[76],"cannot":[77],"otherwise":[78],"guarantee":[79],"safety.":[80],"Furthermore,":[81],"can":[84],"take":[85],"control":[86],"at":[87],"any":[88],"time":[89,156],"then":[91],"resume":[92],"autonomous":[93],"operation.":[94],"Our":[95],"flexible":[98],"be":[100],"adapted":[101],"new":[103],"robotic":[104],"systems,":[105],"we":[107],"demonstrate":[108],"our":[109,129],"two":[112],"real-world":[113],"platforms":[114],"-":[115,120],"fixed":[116],"floating":[118],"base":[119,148],"in":[121],"workspace":[123,152],"scenarios.":[124],"To":[125],"best":[127],"knowledge,":[130],"this":[131],"also":[134],"first":[136],"employ":[138],"inverse":[140],"Dynamic":[141],"Reachability":[142],"Map":[143],"real-time,":[145],"optimized":[146],"mobile":[147],"positioning":[149],"maximize":[151],"manipulability":[153],"reducing":[154],"cycle":[155],"increasing":[158],"planning":[159],"autonomy":[161],"robustness.":[162]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}