{"id":"https://openalex.org/W2217280154","doi":"https://doi.org/10.1109/humanoids.2015.7363513","title":"Prophetic goal-space planning for human-in-the-loop mobile manipulation","display_name":"Prophetic goal-space planning for human-in-the-loop mobile manipulation","publication_year":2015,"publication_date":"2015-11-01","ids":{"openalex":"https://openalex.org/W2217280154","doi":"https://doi.org/10.1109/humanoids.2015.7363513","mag":"2217280154"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2015.7363513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363513","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","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/A5036042717","display_name":"Joshua Alexander James","orcid":null},"institutions":[{"id":"https://openalex.org/I1280581677","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08","country_code":"US","type":"government","lineage":["https://openalex.org/I1280581677","https://openalex.org/I1296703163","https://openalex.org/I1330347796"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Joshua James","raw_affiliation_strings":["TRACLabs Inc. in Houston, The DARPA Robotics Challenge, Texas"],"affiliations":[{"raw_affiliation_string":"TRACLabs Inc. in Houston, The DARPA Robotics Challenge, Texas","institution_ids":["https://openalex.org/I1280581677"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020953968","display_name":"Yifan Weng","orcid":"https://orcid.org/0000-0002-3381-8904"},"institutions":[{"id":"https://openalex.org/I1280581677","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08","country_code":"US","type":"government","lineage":["https://openalex.org/I1280581677","https://openalex.org/I1296703163","https://openalex.org/I1330347796"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yifan Weng","raw_affiliation_strings":["TRACLabs Inc. in Houston, The DARPA Robotics Challenge, Texas"],"affiliations":[{"raw_affiliation_string":"TRACLabs Inc. in Houston, The DARPA Robotics Challenge, Texas","institution_ids":["https://openalex.org/I1280581677"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110537026","display_name":"Stephen Hart","orcid":"https://orcid.org/0009-0007-5320-0179"},"institutions":[{"id":"https://openalex.org/I1280581677","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08","country_code":"US","type":"government","lineage":["https://openalex.org/I1280581677","https://openalex.org/I1296703163","https://openalex.org/I1330347796"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen Hart","raw_affiliation_strings":["TRACLabs Inc. in Houston, The DARPA Robotics Challenge, Texas"],"affiliations":[{"raw_affiliation_string":"TRACLabs Inc. in Houston, The DARPA Robotics Challenge, Texas","institution_ids":["https://openalex.org/I1280581677"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038456644","display_name":"Patrick Beeson","orcid":null},"institutions":[{"id":"https://openalex.org/I1280581677","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08","country_code":"US","type":"government","lineage":["https://openalex.org/I1280581677","https://openalex.org/I1296703163","https://openalex.org/I1330347796"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick Beeson","raw_affiliation_strings":["TRACLabs Inc. in Houston, The DARPA Robotics Challenge, Texas"],"affiliations":[{"raw_affiliation_string":"TRACLabs Inc. in Houston, The DARPA Robotics Challenge, Texas","institution_ids":["https://openalex.org/I1280581677"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070855715","display_name":"Robert R. Burridge","orcid":null},"institutions":[{"id":"https://openalex.org/I1280581677","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08","country_code":"US","type":"government","lineage":["https://openalex.org/I1280581677","https://openalex.org/I1296703163","https://openalex.org/I1330347796"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert Burridge","raw_affiliation_strings":["TRACLabs Inc. in Houston, The DARPA Robotics Challenge, Texas"],"affiliations":[{"raw_affiliation_string":"TRACLabs Inc. in Houston, The DARPA Robotics Challenge, Texas","institution_ids":["https://openalex.org/I1280581677"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5036042717"],"corresponding_institution_ids":["https://openalex.org/I1280581677"],"apc_list":null,"apc_paid":null,"fwci":0.6818,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.75148864,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"43","issue":null,"first_page":"1185","last_page":"1192"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9986000061035156,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9934999942779541,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.616419792175293},{"id":"https://openalex.org/keywords/human-in-the-loop","display_name":"Human-in-the-loop","score":0.5999093651771545},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5657275319099426},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.5463547706604004},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.526667058467865},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10262972116470337},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.06977289915084839}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.616419792175293},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.5999093651771545},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5657275319099426},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.5463547706604004},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.526667058467865},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10262972116470337},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.06977289915084839},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2015.7363513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363513","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W21037816","https://openalex.org/W1522302154","https://openalex.org/W1552815313","https://openalex.org/W1557148289","https://openalex.org/W1591926975","https://openalex.org/W1951089663","https://openalex.org/W2003376746","https://openalex.org/W2025939589","https://openalex.org/W2053940671","https://openalex.org/W2062691475","https://openalex.org/W2110160528","https://openalex.org/W2131455010","https://openalex.org/W2135677376","https://openalex.org/W2140717964","https://openalex.org/W2146485332","https://openalex.org/W2205340216","https://openalex.org/W3103374988","https://openalex.org/W6681895744"],"related_works":["https://openalex.org/W2791504333","https://openalex.org/W4288099294","https://openalex.org/W1897539627","https://openalex.org/W2045456578","https://openalex.org/W2076610045","https://openalex.org/W2199098843","https://openalex.org/W2918883224","https://openalex.org/W68053931","https://openalex.org/W3106945349","https://openalex.org/W2946328221"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"the":[3,18,38,45,50,77,91,99,113,123,130,145,167,173,182,225],"Prophetic":[4],"Goal-Space":[5],"Planner":[6],"(PGP)":[7],"system":[8,64,136],"developed":[9],"to":[10,93,108,127,198,216],"accomplish":[11],"mobile":[12],"manipulation":[13,187],"tasks.":[14],"Goal-space":[15],"planning":[16],"exploits":[17],"under-constrained":[19],"and":[20,74,79,97,147,191,199,203,214],"variable":[21],"nature":[22],"of":[23,33,41,47,52,141,185,221],"many":[24],"real-world":[25],"tasks":[26],"by":[27,163],"defining":[28],"Cartesian":[29],"goals":[30,96],"in":[31,59,224],"terms":[32],"intuitive":[34],"solution":[35],"manifolds":[36],"(e.g.,":[37],"principal":[39],"axis":[40],"a":[42,48,53,67,71,105,139,194,201,205],"cylindrical":[43],"handle,":[44],"rim":[46],"valve,":[49,202],"surface":[51],"step)":[54],"rather":[55],"than":[56],"precise":[57],"points":[58],"6-dimensional":[60],"space.":[61],"The":[62,84,101,134],"PGP":[63,135,160,180],"combines":[65],"1)":[66],"goal-space":[68,124],"planner,":[69],"2)":[70],"kinematic":[72],"planner":[73],"visualizer":[75],"called":[76],"prophet,":[78],"3)":[80],"user":[81],"interface":[82],"tools.":[83],"prophet":[85],"determines":[86],"appropriate":[87],"stance":[88],"locations":[89],"for":[90,172],"robot":[92,146,171],"reach":[94],"its":[95],"animates":[98],"result.":[100],"UI":[102],"tools":[103],"allow":[104],"human":[106],"operator":[107,148,158],"either":[109],"approve":[110],"or":[111,121],"reject":[112],"planner's":[114],"output":[115],"(the":[116],"\"prophecy\"),":[117],"request":[118],"new":[119],"plans,":[120],"adjust":[122],"target":[125],"regions":[126],"better":[128],"match":[129],"robot's":[131],"perceived":[132],"environment.":[133],"thus":[137],"enables":[138],"level":[140],"shared":[142],"autonomy":[143],"between":[144],"that":[149],"can":[150],"ensure":[151],"task":[152],"completion":[153,184],"with":[154],"only":[155],"limited,":[156],"corrective":[157],"input.":[159],"was":[161],"employed":[162],"Team":[164],"TRACLabs":[165],"on":[166],"Boston":[168],"Dynamics":[169],"Atlas":[170],"DARPA":[174],"Robotics":[175],"Challenge":[176],"(DRC)":[177],"2015":[178],"Finals.":[179],"enabled":[181],"efficient":[183],"multiple":[186],"tasks,":[188],"including":[189],"opening":[190],"walking":[192,196],"through":[193],"door,":[195],"up":[197],"turning":[200],"throwing":[204],"lever":[206],"-":[207,213],"despite":[208],"degraded":[209],"network":[210],"communication":[211],"channels":[212],"contributed":[215],"TRACLabs'":[217],"placing":[218],"9th":[219],"out":[220],"23":[222],"teams":[223],"competition.":[226]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
