{"id":"https://openalex.org/W1990749394","doi":"https://doi.org/10.1109/humanoids.2014.7041451","title":"Mobile manipulation in cluttered environments with humanoids: Integrated perception, task planning, and action execution","display_name":"Mobile manipulation in cluttered environments with humanoids: Integrated perception, task planning, and action execution","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W1990749394","doi":"https://doi.org/10.1109/humanoids.2014.7041451","mag":"1990749394"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041451","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041451","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","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/A5018550573","display_name":"Armin Hornung","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Armin Hornung","raw_affiliation_strings":["Dept. of Computer Science, Univ. of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Univ. of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024318849","display_name":"Sebastian B\u00f6ttcher","orcid":"https://orcid.org/0000-0002-3407-8290"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Bottcher","raw_affiliation_strings":["Dept. of Computer Science, Univ. of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Univ. of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054223110","display_name":"Jonas Schlagenhauf","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jonas Schlagenhauf","raw_affiliation_strings":["Dept. of Computer Science, Univ. of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Univ. of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066296489","display_name":"Christian Dornhege","orcid":"https://orcid.org/0000-0003-3150-3623"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Dornhege","raw_affiliation_strings":["Dept. of Computer Science, Univ. of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Univ. of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059187322","display_name":"Andreas Hertle","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Hertle","raw_affiliation_strings":["Dept. of Computer Science, Univ. of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Univ. of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]},{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["Dept. of Computer Science, Univ. of Freiburg, Germany","Humanoid Robots Lab, Univ. of Bonn"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Univ. of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Humanoid Robots Lab, Univ. of Bonn","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5018550573"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":2.8714,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.90764249,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"20","issue":null,"first_page":"773","last_page":"778"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6981021761894226},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6537529826164246},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6425063014030457},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5991083979606628},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5889840126037598},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.550137460231781},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5443737506866455},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4950539171695709},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.4601282775402069},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.45614171028137207},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45585593581199646},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4225265085697174},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38950660824775696},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1778627336025238},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.0705755352973938}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6981021761894226},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6537529826164246},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6425063014030457},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5991083979606628},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5889840126037598},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.550137460231781},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5443737506866455},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4950539171695709},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.4601282775402069},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.45614171028137207},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45585593581199646},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4225265085697174},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38950660824775696},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1778627336025238},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0705755352973938},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2014.7041451","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041451","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.718.8060","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.718.8060","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.hrl.uni-bonn.de/papers/hornung14humanoids.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6600000262260437,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W823594533","https://openalex.org/W1008966784","https://openalex.org/W1494534478","https://openalex.org/W1972093847","https://openalex.org/W1972447158","https://openalex.org/W1975142260","https://openalex.org/W1983855471","https://openalex.org/W1986833558","https://openalex.org/W2010209632","https://openalex.org/W2021683594","https://openalex.org/W2060613652","https://openalex.org/W2069292694","https://openalex.org/W2070683816","https://openalex.org/W2119709400","https://openalex.org/W2143936212","https://openalex.org/W2161076907","https://openalex.org/W2185640870","https://openalex.org/W2407405831","https://openalex.org/W2540258482","https://openalex.org/W4240202985","https://openalex.org/W6626294000","https://openalex.org/W6629472046","https://openalex.org/W6646074082","https://openalex.org/W6677844798","https://openalex.org/W6681431202","https://openalex.org/W6683620479","https://openalex.org/W6686703745"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"To":[0],"autonomously":[1],"carry":[2],"out":[3,109,138],"complex":[4],"mobile":[5,73,83],"manipulation":[6,74,84],"tasks,":[7],"a":[8,33,67,103,118,123],"robot":[9,69,127,180],"control":[10,50],"system":[11,116],"has":[12,128],"to":[13,49,55,70,99,129,146,176],"integrate":[14,57],"several":[15],"components":[16],"for":[17,117],"perception,":[18],"world":[19],"modeling,":[20],"action":[21],"planning":[22],"and":[23,26,45,65,96,142,154,179],"replanning,":[24],"navigation,":[25],"manipulation.":[27],"In":[28,76],"this":[29],"paper,":[30],"we":[31,81],"present":[32],"modular":[34],"framework":[35],"that":[36,164],"is":[37],"based":[38],"on":[39,133],"the":[40,51,61,77,91,111,126,134,144,151,158,161],"Temporal":[41],"Fast":[42],"Downward":[43],"Planner":[44],"supports":[46],"external":[47],"modules":[48],"robot.":[52],"This":[53],"allows":[54],"tightly":[56],"individual":[58],"sub-systems":[59],"with":[60,85],"high-level":[62],"symbolic":[63],"planner":[64],"enables":[66],"humanoid":[68,120],"solve":[71],"challenging":[72],"tasks.":[75],"work":[78],"presented":[79],"here,":[80],"address":[82],"humanoids":[86],"in":[87,102,168],"cluttered":[88],"environments,":[89],"particularly":[90],"task":[92,170],"of":[93,110,139,157],"collecting":[94],"objects":[95,145],"delivering":[97],"them":[98],"designated":[100,147],"places":[101],"home-like":[104],"environment":[105],"while":[106],"clearing":[107],"obstacles":[108,137],"way.":[112],"We":[113],"implemented":[114],"our":[115,165],"Nao":[119],"tidying":[121],"up":[122],"room,":[124],"i.e.,":[125],"collect":[130],"items":[131],"scattered":[132],"floor,":[135],"move":[136],"its":[140],"way,":[141],"deliver":[143],"target":[148],"locations.":[149],"Despite":[150],"limited":[152],"sensing":[153],"motion":[155],"capabilities":[156],"low-cost":[159],"platform,":[160],"experiments":[162],"show":[163],"approach":[166],"results":[167],"reliable":[169],"execution":[171],"by":[172],"applying":[173],"monitoring":[174],"actions":[175],"verify":[177],"object":[178],"states.":[181]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}