{"id":"https://openalex.org/W3208653122","doi":"https://doi.org/10.1109/ecmr50962.2021.9568813","title":"MDP-based Motion Planning for Grasping in Dynamic Scenarios","display_name":"MDP-based Motion Planning for Grasping in Dynamic Scenarios","publication_year":2021,"publication_date":"2021-08-01","ids":{"openalex":"https://openalex.org/W3208653122","doi":"https://doi.org/10.1109/ecmr50962.2021.9568813","mag":"3208653122"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr50962.2021.9568813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr50962.2021.9568813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101950412","display_name":"Steffen M\u00fcller","orcid":"https://orcid.org/0000-0002-7831-7695"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steffen Muller","raw_affiliation_strings":["Neuroinformatics and Cognitive Robotics Lab, Technische Universit\u00e4t Ilmenau, Ilmenau, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Technische Universit\u00e4t Ilmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068815583","display_name":"Benedict Stephan","orcid":"https://orcid.org/0000-0001-5445-3935"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benedict Stephan","raw_affiliation_strings":["Neuroinformatics and Cognitive Robotics Lab, Technische Universit\u00e4t Ilmenau, Ilmenau, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Technische Universit\u00e4t Ilmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075114390","display_name":"Horst\u2013Michael Gro\u00df","orcid":"https://orcid.org/0000-0001-9712-0225"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Horst-Michael Gross","raw_affiliation_strings":["Neuroinformatics and Cognitive Robotics Lab, Technische Universit\u00e4t Ilmenau, Ilmenau, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Lab, Technische Universit\u00e4t Ilmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I119449181"],"apc_list":null,"apc_paid":null,"fwci":0.0955,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.381252,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"6","issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/grasp","display_name":"GRASP","score":0.8236802816390991},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7862474918365479},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.743003249168396},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6723499894142151},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6410366296768188},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.5454607009887695},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.537841796875},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5221921801567078},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5079064965248108},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49365100264549255},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4869938790798187},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.42644333839416504},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4254497289657593},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.41778498888015747},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.35358643531799316},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12020018696784973},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08788031339645386}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8236802816390991},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7862474918365479},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.743003249168396},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6723499894142151},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6410366296768188},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.5454607009887695},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.537841796875},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5221921801567078},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5079064965248108},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49365100264549255},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4869938790798187},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.42644333839416504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4254497289657593},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.41778498888015747},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.35358643531799316},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12020018696784973},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08788031339645386},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr50962.2021.9568813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr50962.2021.9568813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338080","display_name":"European Social Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1516418405","https://openalex.org/W1971086298","https://openalex.org/W1977655452","https://openalex.org/W2004125362","https://openalex.org/W2037341500","https://openalex.org/W2098614265","https://openalex.org/W2116772004","https://openalex.org/W2121863487","https://openalex.org/W2128672663","https://openalex.org/W2128990851","https://openalex.org/W2159524963","https://openalex.org/W2165216595","https://openalex.org/W2169528473","https://openalex.org/W2212899008","https://openalex.org/W2486402301","https://openalex.org/W2752574553","https://openalex.org/W2810307462","https://openalex.org/W2955697550","https://openalex.org/W4210976136","https://openalex.org/W4243385754"],"related_works":["https://openalex.org/W2060743914","https://openalex.org/W2107702345","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W2389713625","https://openalex.org/W2394276631","https://openalex.org/W4308217561","https://openalex.org/W2134348961","https://openalex.org/W2115192598"],"abstract_inverted_index":{"Path":[0],"planning":[1,87],"for":[2,25,110,146],"robotic":[3,115],"manipulation":[4],"is":[5,51,95,121],"a":[6,21,31,47,53,73,77,114,144,150],"well":[7],"understood":[8],"topic":[9],"as":[10,12],"long":[11],"the":[13,16,58,65,68,89,156],"execution":[14,66],"of":[15,67,92,113,138],"plan":[17],"takes":[18],"place":[19],"in":[20,76,149],"static":[22],"scene.":[23],"Unfortunately,":[24],"applications":[26],"involving":[27],"human":[28,48],"interaction":[29],"partners":[30],"dynamic":[32],"obstacle":[33],"configuration":[34,61],"has":[35],"to":[36,43,97,123],"be":[37],"considered.":[38],"Furthermore,":[39,141],"if":[40],"it":[41],"comes":[42],"grasping":[44,60],"objects":[45],"from":[46],"hand,":[49],"there":[50],"not":[52],"single":[54],"goal":[55,131],"position":[56],"and":[57,82,129,158],"optimal":[59],"may":[62],"change":[63],"during":[64],"grasp":[69,116,127],"movement.":[70],"This":[71],"makes":[72],"continuous":[74,111],"re-planning":[75],"loop":[78],"necessary.":[79],"Besides":[80],"efficiency":[81],"security":[83],"concerns,":[84],"such":[85],"periodic":[86],"raises":[88],"additional":[90,130],"requirement":[91],"consistency,":[93],"which":[94],"hard":[96],"achieve":[98],"with":[99],"traditional":[100],"sampling":[101],"based":[102],"planners.":[103],"We":[104],"present":[105,143],"an":[106,135],"online":[107],"capable":[108],"planner":[109,119],"control":[112],"task.":[117],"The":[118],"additionally":[120],"able":[122],"resolve":[124],"multiple":[125],"possible":[126],"poses":[128],"functions":[132],"by":[133],"applying":[134],"MDP-like":[136],"optimization":[137],"future":[139],"rewards.":[140],"we":[142],"heuristic":[145],"setting":[147],"edges":[148],"probabilistic":[151],"roadmap":[152],"graph":[153],"that":[154],"improves":[155],"connectivity":[157],"keeps":[159],"edge":[160],"count":[161],"low.":[162]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}