{"id":"https://openalex.org/W4390480924","doi":"https://doi.org/10.1109/humanoids57100.2023.10375189","title":"DawnIK: Decentralized Collision-Aware Inverse Kinematics Solver for Heterogeneous Multi-Arm Systems","display_name":"DawnIK: Decentralized Collision-Aware Inverse Kinematics Solver for Heterogeneous Multi-Arm Systems","publication_year":2023,"publication_date":"2023-12-12","ids":{"openalex":"https://openalex.org/W4390480924","doi":"https://doi.org/10.1109/humanoids57100.2023.10375189"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids57100.2023.10375189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids57100.2023.10375189","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd 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/A5022034483","display_name":"Sal\u0131h Marangoz","orcid":"https://orcid.org/0000-0001-8979-3606"},"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"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Salih Marangoz","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany","Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103089658","display_name":"Rohit Menon","orcid":"https://orcid.org/0000-0001-9724-1182"},"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"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rohit Menon","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany","Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065181173","display_name":"Nils Dengler","orcid":null},"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"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nils Dengler","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany","Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"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/I4387154616","display_name":"Lamarr Institute for Machine Learning and Artificial Intelligence","ror":"https://ror.org/04s11ea33","country_code":null,"type":"facility","lineage":["https://openalex.org/I135140700","https://openalex.org/I200332995","https://openalex.org/I4210098062","https://openalex.org/I4210144576","https://openalex.org/I4387154616","https://openalex.org/I4923324","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany","Humanoid Robots Lab, University of Bonn, Germany","Lamarr Institute for Machine Learning and Artificial Intelligence, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Lamarr Institute for Machine Learning and Artificial Intelligence, Germany","institution_ids":["https://openalex.org/I4387154616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5022034483"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":0.3752,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.61953708,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9997000098228455,"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":0.9997000098228455,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.8261646032333374},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.6829754710197449},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6584550142288208},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6513145565986633},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6416625380516052},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6174114942550659},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5770156979560852},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5037340521812439},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4999568462371826},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.46858900785446167},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.46256670355796814},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4529430568218231},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4382120370864868},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.41794252395629883},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4129268229007721},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4109554886817932},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.23242142796516418},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23161578178405762},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17831361293792725},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1572035551071167},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.13168227672576904},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08534359931945801},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08179765939712524},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06276389956474304}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8261646032333374},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6829754710197449},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6584550142288208},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6513145565986633},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6416625380516052},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6174114942550659},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5770156979560852},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5037340521812439},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4999568462371826},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.46858900785446167},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.46256670355796814},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4529430568218231},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4382120370864868},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.41794252395629883},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4129268229007721},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4109554886817932},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.23242142796516418},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23161578178405762},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17831361293792725},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1572035551071167},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.13168227672576904},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08534359931945801},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08179765939712524},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06276389956474304},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/humanoids57100.2023.10375189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids57100.2023.10375189","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G298680147","display_name":null,"funder_award_id":"964854 - RePAIR - H2020-FETOPEN-2018-2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W147998453","https://openalex.org/W1558446093","https://openalex.org/W1630678085","https://openalex.org/W1977866635","https://openalex.org/W2037841262","https://openalex.org/W2072763216","https://openalex.org/W2087070363","https://openalex.org/W2119527179","https://openalex.org/W2135929901","https://openalex.org/W2166316739","https://openalex.org/W2205340216","https://openalex.org/W2256578114","https://openalex.org/W2486095479","https://openalex.org/W2738358082","https://openalex.org/W2805114031","https://openalex.org/W2810307462","https://openalex.org/W2974859226","https://openalex.org/W3010670196","https://openalex.org/W3121644014","https://openalex.org/W3205495752","https://openalex.org/W3205636718","https://openalex.org/W4226324916","https://openalex.org/W4298014976","https://openalex.org/W4380343373","https://openalex.org/W6636808768","https://openalex.org/W6842493033"],"related_works":["https://openalex.org/W2115240519","https://openalex.org/W2080642692","https://openalex.org/W2039927751","https://openalex.org/W2744818472","https://openalex.org/W1253671258","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4396731552","https://openalex.org/W3134555460","https://openalex.org/W2607470227"],"abstract_inverted_index":{"Although":[0],"inverse":[1,45,72,108],"kinematics":[2,46,73],"of":[3,119,148,154,172,191,196],"serial":[4,75],"manipulators":[5,76],"is":[6,140,174,189],"a":[7,67,87,134],"well":[8],"studied":[9],"problem,":[10],"challenges":[11],"still":[12],"exist":[13],"in":[14,37,146,151,157,164,202],"finding":[15],"smooth":[16],"feasible":[17],"solutions":[18],"that":[19,42,77,91],"are":[20],"also":[21,58],"collision":[22,149,173],"aware.":[23],"Furthermore,":[24],"with":[25,55,60,94,116,160],"collaborative":[26],"service":[27],"robots":[28],"gaining":[29],"traction,":[30],"different":[31,81,124],"robotic":[32],"systems":[33],"have":[34,50],"to":[35,52,70,85,130,142],"work":[36],"close":[38],"proximity.":[39],"This":[40],"means":[41],"the":[43,143,152,166,170],"current":[44],"approaches":[47],"do":[48,112],"not":[49],"only":[51],"avoid":[53],"collisions":[54,59,93,162],"themselves":[56,95],"but":[57],"other":[61,97,100],"robot":[62],"arms.":[63,98],"Therefore,":[64],"we":[65,104,113,122],"present":[66],"novel":[68],"approach":[69,139,177,188],"compute":[71],"for":[74,199],"take":[78],"into":[79],"account":[80],"constraints":[82,125],"while":[83],"trying":[84],"reach":[86],"desired":[88],"end-effector":[89],"pose":[90],"avoids":[92],"and":[96],"Unlike":[99],"constraint":[101],"based":[102],"approaches,":[103],"neither":[105],"perform":[106],"expensive":[107],"Jacobian":[109],"computations":[110],"nor":[111],"require":[114],"arms":[115,156,198],"redundant":[117],"degrees":[118],"freedom.":[120],"Instead,":[121],"formulate":[123],"as":[126,184],"weighted":[127],"cost":[128],"functions":[129],"be":[131],"optimized":[132],"by":[133],"non-linear":[135],"optimization":[136],"solver.":[137],"Our":[138],"superior":[141],"state-of-the-art":[144],"CollisionIK":[145],"terms":[147],"avoidance":[150],"presence":[153],"multiple":[155,197],"confined":[158],"spaces":[159],"no":[161],"occurring":[163],"all":[165],"experimental":[167],"scenarios.":[168],"When":[169],"probability":[171],"low,":[175],"our":[176,187],"shows":[178],"better":[179],"performance":[180],"at":[181],"trajectory":[182,200],"tracking":[183,201],"well.":[185],"Additionally,":[186],"capable":[190],"simultaneous":[192],"yet":[193],"decentralized":[194],"control":[195],"intersecting":[203],"workspace":[204],"without":[205],"any":[206],"collisions.":[207]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}