{"id":"https://openalex.org/W7125486524","doi":"https://doi.org/10.1109/icar65334.2025.11338654","title":"RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation","display_name":"RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation","publication_year":2025,"publication_date":"2025-12-02","ids":{"openalex":"https://openalex.org/W7125486524","doi":"https://doi.org/10.1109/icar65334.2025.11338654"},"language":null,"primary_location":{"id":"doi:10.1109/icar65334.2025.11338654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar65334.2025.11338654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 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/A5031492616","display_name":"Mattia Risiglione","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Mattia Risiglione","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Lab,Genova,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Lab,Genova,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123679090","display_name":"Abdelrahman Abdalla","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Abdelrahman Abdalla","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Lab,Genova,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Lab,Genova,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086426608","display_name":"Victor Barasuol","orcid":"https://orcid.org/0000-0003-4966-5743"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Victor Barasuol","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Lab,Genova,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Lab,Genova,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123676445","display_name":"Kim Tien Ly","orcid":null},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kim Tien Ly","raw_affiliation_strings":["University of Oxford,Oxford Robotics Institute,UK"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Oxford Robotics Institute,UK","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068877998","display_name":"Ioannis Havoutis","orcid":"https://orcid.org/0000-0002-4371-4623"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]},{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ioannis Havoutis","raw_affiliation_strings":["University of Oxford,Oxford Robotics Institute,UK"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Oxford Robotics Institute,UK","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5123707760","display_name":"Claudio Semini","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Claudio Semini","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Lab,Genova,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Dynamic Legged Systems Lab,Genova,Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5031492616"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.71831247,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"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/T10860","display_name":"Speech and Audio Processing","score":0.48669999837875366,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10860","display_name":"Speech and Audio Processing","score":0.48669999837875366,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T11233","display_name":"Advanced Adaptive Filtering Techniques","score":0.11879999935626984,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11349","display_name":"Music Technology and Sound Studies","score":0.043800000101327896,"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/path","display_name":"Path (computing)","score":0.4311000108718872},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.32409998774528503},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.2939000129699707},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.2919999957084656},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.27219998836517334}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5357999801635742},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4311000108718872},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3709000051021576},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3465999960899353},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3431999981403351},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.32409998774528503},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.2939000129699707},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2919999957084656},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.27219998836517334},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.26910001039505005}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar65334.2025.11338654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar65334.2025.11338654","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W2004139909","https://openalex.org/W2019965290","https://openalex.org/W2099893201","https://openalex.org/W2610753682","https://openalex.org/W2736258566","https://openalex.org/W2788200022","https://openalex.org/W3036820274","https://openalex.org/W3090366486","https://openalex.org/W3206771627","https://openalex.org/W4200051962","https://openalex.org/W4312418011","https://openalex.org/W4312602775","https://openalex.org/W4378767350","https://openalex.org/W4385858056","https://openalex.org/W4401414279"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-01-24T23:27:35.965710","created_date":"2026-01-24T00:00:00"}
