{"id":"https://openalex.org/W1904505005","doi":"https://doi.org/10.1109/etfa.2015.7301471","title":"Task and motion planning using physics-based reasoning","display_name":"Task and motion planning using physics-based reasoning","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W1904505005","doi":"https://doi.org/10.1109/etfa.2015.7301471","mag":"1904505005"},"language":"en","primary_location":{"id":"doi:10.1109/etfa.2015.7301471","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2015.7301471","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/2117/79005","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068220205","display_name":"Aliakbar Akbari","orcid":"https://orcid.org/0000-0002-5290-9799"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Aliakbar Akbari","raw_affiliation_strings":["Institute of Industrial and Control Engineering (IOC), Universitat Politcnica de Catalunya (UPC) - Barcelona Tech, Barcelona, Spain","Institute of Industrial and Control Engineering (IOC), Universitat Politcnica de Catalunya (UPC) - Barcelona Tech, Spain"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial and Control Engineering (IOC), Universitat Politcnica de Catalunya (UPC) - Barcelona Tech, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]},{"raw_affiliation_string":"Institute of Industrial and Control Engineering (IOC), Universitat Politcnica de Catalunya (UPC) - Barcelona Tech, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Muhayyuddin","orcid":null},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Muhayyuddin","raw_affiliation_strings":["Institute of Industrial and Control Engineering (IOC), Universitat Politcnica de Catalunya (UPC) - Barcelona Tech, Barcelona, Spain","Institute of Industrial and Control Engineering (IOC), Universitat Politcnica de Catalunya (UPC) - Barcelona Tech, Spain"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial and Control Engineering (IOC), Universitat Politcnica de Catalunya (UPC) - Barcelona Tech, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]},{"raw_affiliation_string":"Institute of Industrial and Control Engineering (IOC), Universitat Politcnica de Catalunya (UPC) - Barcelona Tech, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031235936","display_name":"Jan Rosell","orcid":"https://orcid.org/0000-0003-4854-2370"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jan Rosell","raw_affiliation_strings":["Institute of Industrial and Control Engineering (IOC), Universitat Politcnica de Catalunya (UPC) - Barcelona Tech, Barcelona, Spain","Institute of Industrial and Control Engineering (IOC), Universitat Politcnica de Catalunya (UPC) - Barcelona Tech, Spain"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial and Control Engineering (IOC), Universitat Politcnica de Catalunya (UPC) - Barcelona Tech, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]},{"raw_affiliation_string":"Institute of Industrial and Control Engineering (IOC), Universitat Politcnica de Catalunya (UPC) - Barcelona Tech, Spain","institution_ids":["https://openalex.org/I9617848"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5068220205"],"corresponding_institution_ids":["https://openalex.org/I9617848"],"apc_list":null,"apc_paid":null,"fwci":2.9955,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.94088872,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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":0.9983999729156494,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9983000159263611,"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"}},{"id":"https://openalex.org/T10215","display_name":"Semantic Web and Ontologies","score":0.9973999857902527,"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/task","display_name":"Task (project management)","score":0.7865982055664062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.712131142616272},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6408119201660156},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6377678513526917},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6220284700393677},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6015313863754272},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.578607439994812},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5198898315429688},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34318459033966064},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3241313695907593},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.19029149413108826},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12392053008079529},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11616471409797668}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7865982055664062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.712131142616272},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6408119201660156},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6377678513526917},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6220284700393677},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6015313863754272},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.578607439994812},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5198898315429688},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34318459033966064},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3241313695907593},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.19029149413108826},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12392053008079529},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11616471409797668},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/etfa.2015.7301471","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2015.7301471","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)","raw_type":"proceedings-article"},{"id":"pmh:oai:recercat.cat:2072/308395","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/79005","pdf_url":null,"source":{"id":"https://openalex.org/S4306402147","display_name":"RECERCAT (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:upcommons.upc.edu:2117/79005","is_oa":false,"landing_page_url":"https://hdl.handle.net/2117/79005","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:recercat.cat:2072/308395","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/79005","pdf_url":null,"source":{"id":"https://openalex.org/S4306402147","display_name":"RECERCAT (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.47999998927116394,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W21025882","https://openalex.org/W125541279","https://openalex.org/W1487060125","https://openalex.org/W1573304844","https://openalex.org/W2002548850","https://openalex.org/W2003835006","https://openalex.org/W2025460523","https://openalex.org/W2029752358","https://openalex.org/W2104409884","https://openalex.org/W2110762409","https://openalex.org/W2111168122","https://openalex.org/W2118839026","https://openalex.org/W2134304017","https://openalex.org/W2135639338","https://openalex.org/W2143936212","https://openalex.org/W2192953621","https://openalex.org/W2901136733","https://openalex.org/W6600806940","https://openalex.org/W6629025635","https://openalex.org/W6634306289","https://openalex.org/W6677769114","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W4240485100","https://openalex.org/W2056130799","https://openalex.org/W2045758229","https://openalex.org/W405964254","https://openalex.org/W4254970379","https://openalex.org/W2110944602","https://openalex.org/W3213722473"],"abstract_inverted_index":{"For":[0],"everyday":[1],"manipulation":[2],"tasks,":[3],"the":[4,14,18,39,45,48,70,88,102,105,116],"combination":[5],"of":[6,16,20,41,47,66,69,90,104],"task":[7,75],"and":[8,28,44,85,94,108,127],"motion":[9],"planning":[10],"is":[11,51,128],"required":[12],"regarding":[13],"need":[15],"providing":[17],"set":[19],"possible":[21,92],"subtasks":[22],"which":[23],"have":[24],"to":[25,30,74,81,86,114],"be":[26],"done":[27],"how":[29],"perform":[31],"them.":[32,120],"Since":[33],"many":[34],"alternative":[35],"plans":[36,107],"may":[37],"exist,":[38],"determination":[40],"their":[42],"feasibility":[43,103],"identification":[46],"best":[49,71,117],"one":[50,118],"a":[52,64,96],"great":[53],"challenge":[54],"in":[55],"robotics.":[56],"To":[57],"address":[58],"this,":[59],"this":[60],"paper":[61],"proposes:":[62],"a)":[63],"version":[65],"GraphPlan":[67],"(one":[68],"current":[72],"approaches":[73],"planning)":[76],"that":[77,100,112],"has":[78,124],"been":[79,125],"modified":[80],"use":[82],"ontological":[83],"knowledge":[84],"allow":[87],"retrieval":[89],"all":[91],"plans;":[93],"b)":[95],"physics-based":[97],"reasoning":[98],"process":[99],"determines":[101],"resulting":[106],"an":[109,131],"associated":[110],"cost":[111],"allows":[113],"select":[115],"among":[119],"The":[121],"proposed":[122],"framework":[123],"implemented":[126],"illustrated":[129],"through":[130],"example.":[132]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}