{"id":"https://openalex.org/W2051842794","doi":"https://doi.org/10.1109/icar.2013.6766473","title":"GPU-based real-time collision detection for motion execution in mobile manipulation planning","display_name":"GPU-based real-time collision detection for motion execution in mobile manipulation planning","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2051842794","doi":"https://doi.org/10.1109/icar.2013.6766473","mag":"2051842794"},"language":"en","primary_location":{"id":"doi:10.1109/icar.2013.6766473","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2013.6766473","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 16th International Conference on Advanced Robotics (ICAR)","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/A5082682604","display_name":"A. M. Hermann","orcid":"https://orcid.org/0000-0003-2776-3940"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]},{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Andreas Hermann","raw_affiliation_strings":["department of Intelligent Systems and Production Engineering (ISPE - IDS), Research Center for Information Technology (FZI), Karlsruhe, Germany","Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"department of Intelligent Systems and Production Engineering (ISPE - IDS), Research Center for Information Technology (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I29955533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113721624","display_name":"Sebastian Klemm","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]},{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Sebastian Klemm","raw_affiliation_strings":["department of Intelligent Systems and Production Engineering (ISPE - IDS), Research Center for Information Technology (FZI), Karlsruhe, Germany","Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"department of Intelligent Systems and Production Engineering (ISPE - IDS), Research Center for Information Technology (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I29955533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108373596","display_name":"Zhixing Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]},{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Zhixing Xue","raw_affiliation_strings":["department of Intelligent Systems and Production Engineering (ISPE - IDS), Research Center for Information Technology (FZI), Karlsruhe, Germany","Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"department of Intelligent Systems and Production Engineering (ISPE - IDS), Research Center for Information Technology (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I29955533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072884786","display_name":"Arne Roennau","orcid":"https://orcid.org/0000-0002-6090-607X"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]},{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Arne Roennau","raw_affiliation_strings":["department of Intelligent Systems and Production Engineering (ISPE - IDS), Research Center for Information Technology (FZI), Karlsruhe, Germany","Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"department of Intelligent Systems and Production Engineering (ISPE - IDS), Research Center for Information Technology (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I29955533"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112552331","display_name":"R\u00fcdiger Dillmann","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]},{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Rudiger Dillmann","raw_affiliation_strings":["department of Intelligent Systems and Production Engineering (ISPE - IDS), Research Center for Information Technology (FZI), Karlsruhe, Germany","Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"department of Intelligent Systems and Production Engineering (ISPE - IDS), Research Center for Information Technology (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Dept. of Intell. Syst. & Production Eng. (ISPE - IDS), Res. Center for Inf. Technol. (FZI), Karlsruhe, Germany","institution_ids":["https://openalex.org/I29955533"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1051,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.81072114,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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":0.9994999766349792,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/cuda","display_name":"CUDA","score":0.8553385734558105},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8056502342224121},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6124026775360107},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.599414587020874},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.5494486689567566},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.5290393233299255},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5026957988739014},{"id":"https://openalex.org/keywords/execution-time","display_name":"Execution time","score":0.42387133836746216},{"id":"https://openalex.org/keywords/massively-parallel","display_name":"Massively parallel","score":0.4180172085762024},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.4167941212654114},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.41349682211875916},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3786372244358063},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.19233840703964233},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08049941062927246}],"concepts":[{"id":"https://openalex.org/C2778119891","wikidata":"https://www.wikidata.org/wiki/Q477690","display_name":"CUDA","level":2,"score":0.8553385734558105},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8056502342224121},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6124026775360107},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.599414587020874},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.5494486689567566},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.5290393233299255},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5026957988739014},{"id":"https://openalex.org/C2989134064","wikidata":"https://www.wikidata.org/wiki/Q288510","display_name":"Execution time","level":2,"score":0.42387133836746216},{"id":"https://openalex.org/C190475519","wikidata":"https://www.wikidata.org/wiki/Q544384","display_name":"Massively parallel","level":2,"score":0.4180172085762024},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.4167941212654114},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.41349682211875916},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3786372244358063},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.19233840703964233},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08049941062927246},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar.2013.6766473","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2013.6766473","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 16th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W73627945","https://openalex.org/W1510186039","https://openalex.org/W1545185138","https://openalex.org/W1968554754","https://openalex.org/W1974475984","https://openalex.org/W2002983110","https://openalex.org/W2004139909","https://openalex.org/W2028874916","https://openalex.org/W2054958183","https://openalex.org/W2101033030","https://openalex.org/W2106010048","https://openalex.org/W2113840705","https://openalex.org/W2121810265","https://openalex.org/W2124348791","https://openalex.org/W2133844819","https://openalex.org/W2145485130","https://openalex.org/W2149616971","https://openalex.org/W2151395903","https://openalex.org/W2155873302","https://openalex.org/W2165751588","https://openalex.org/W2596476707","https://openalex.org/W6603016052","https://openalex.org/W6684519806"],"related_works":["https://openalex.org/W3062287","https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W3215492696","https://openalex.org/W2257960210","https://openalex.org/W2028510469","https://openalex.org/W913501818","https://openalex.org/W2021628292","https://openalex.org/W4379525781","https://openalex.org/W1987135480"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"present":[4],"a":[5,16],"parallel":[6,43],"collision":[7],"checking":[8],"approach":[9],"as":[10],"an":[11],"essential":[12],"building":[13],"block":[14],"of":[15,28,54],"reactive":[17],"online":[18],"planning":[19],"framework,":[20],"that":[21],"allows":[22],"to":[23],"continuously":[24],"monitor":[25],"the":[26,35,55,59],"execution":[27],"planned":[29],"trajectories":[30],"against":[31],"dynamic":[32],"changes":[33],"in":[34,58],"environment.":[36,60],"The":[37],"software":[38],"is":[39],"optimized":[40],"for":[41],"massively":[42],"hardware":[44],"architectures,":[45],"namely":[46],"CUDA":[47],"GPUs":[48],"and":[49],"offers":[50],"constant":[51],"runtime":[52],"regardless":[53],"occupancy":[56],"density":[57]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
