{"id":"https://openalex.org/W2910641550","doi":"https://doi.org/10.1109/icarm.2018.8610854","title":"Sampling based Constrained Motion Planning For Floating Base Manipulators Using Constraints Driven Alternative Parameterization","display_name":"Sampling based Constrained Motion Planning For Floating Base Manipulators Using Constraints Driven Alternative Parameterization","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2910641550","doi":"https://doi.org/10.1109/icarm.2018.8610854","mag":"2910641550"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2018.8610854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610854","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5031335943","display_name":"Mohammadreza Yavari","orcid":"https://orcid.org/0000-0002-2625-9905"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mohammadreza Yavari","raw_affiliation_strings":["School of Engineering Science, Simon Fraser University, Vancouver, BC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering Science, Simon Fraser University, Vancouver, BC","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067371024","display_name":"Kamal Gupta","orcid":"https://orcid.org/0000-0002-4154-0615"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kamal Gupta","raw_affiliation_strings":["School of Engineering Science, Simon Fraser University, Vancouver, BC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering Science, Simon Fraser University, Vancouver, BC","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026447228","display_name":"Mehran Mehrandezh","orcid":"https://orcid.org/0000-0003-0941-7139"},"institutions":[{"id":"https://openalex.org/I194028371","display_name":"University of Regina","ror":"https://ror.org/03dzc0485","country_code":"CA","type":"education","lineage":["https://openalex.org/I194028371"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mehran Mehrandezh","raw_affiliation_strings":["Faculty of Engineering, University of Regina, Regina, SK, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Regina, Regina, SK, Canada","institution_ids":["https://openalex.org/I194028371"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"357","last_page":"362"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.8285808563232422},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.735541820526123},{"id":"https://openalex.org/keywords/parametrization","display_name":"Parametrization (atmospheric modeling)","score":0.6623820066452026},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6608226895332336},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5779420733451843},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5637492537498474},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.5248844027519226},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4724048972129822},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.47222283482551575},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.42570409178733826},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40535035729408264},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28403618931770325},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2619287967681885},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19763633608818054}],"concepts":[{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.8285808563232422},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.735541820526123},{"id":"https://openalex.org/C202887219","wikidata":"https://www.wikidata.org/wiki/Q3895221","display_name":"Parametrization (atmospheric modeling)","level":3,"score":0.6623820066452026},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6608226895332336},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5779420733451843},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5637492537498474},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.5248844027519226},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4724048972129822},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.47222283482551575},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.42570409178733826},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40535035729408264},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28403618931770325},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2619287967681885},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19763633608818054},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74902906","wikidata":"https://www.wikidata.org/wiki/Q1190858","display_name":"Radiative transfer","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2018.8610854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2018.8610854","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1777783943","https://openalex.org/W1981703801","https://openalex.org/W2025939589","https://openalex.org/W2036016432","https://openalex.org/W2062691475","https://openalex.org/W2068761489","https://openalex.org/W2077881428","https://openalex.org/W2102128251","https://openalex.org/W2116341587","https://openalex.org/W2126386176","https://openalex.org/W2134447392","https://openalex.org/W2152724075","https://openalex.org/W6667810368"],"related_works":["https://openalex.org/W2005695917","https://openalex.org/W2333571655","https://openalex.org/W2104320275","https://openalex.org/W3004930912","https://openalex.org/W2111158727","https://openalex.org/W1510039162","https://openalex.org/W2112736381","https://openalex.org/W2120794627","https://openalex.org/W2106317420","https://openalex.org/W2107702345"],"abstract_inverted_index":{"Constrained":[0],"end-effector":[1,55,78,124,148],"manipulation":[2],"is":[3,25,80,105],"in":[4,7,30,32,82,151],"big":[5],"demand":[6],"many":[8],"robotic":[9],"applications.":[10],"We":[11,109],"present":[12,110,134],"a":[13,99,111],"novel":[14],"end-effector-constrained":[15],"motion":[16],"planning":[17,126],"technique":[18],"for":[19,53,123,147],"floating-base":[20],"manipulators.":[21],"The":[22,39,59,102],"proposed":[23,63,103,129],"planner":[24,141],"superior":[26],"to":[27,92],"that":[28],"cited":[29],"literature":[31],"terms":[33],"of":[34,61,69,73,113,139,153],"accuracy":[35],"and":[36,117],"execution":[37],"time.":[38],"analytic":[40],"comparison":[41],"with":[42,98],"the":[43,62,67,74,114,128],"former":[44],"approaches":[45],"are":[46,121],"given":[47],"as":[48,50],"well":[49],"simulation":[51],"results":[52],"an":[54,70,135],"trajectory":[56,149],"following":[57],"task.":[58],"strength":[60],"algorithm":[64,104],"roots":[65],"from":[66],"use":[68],"alternative":[71,84,130],"parametrization":[72],"configuration":[75,96],"space,":[76],"where":[77],"pose":[79],"included":[81],"this":[83],"parameterization":[85],"space":[86],"explicitly.":[87],"This":[88],"makes":[89],"it":[90],"possible":[91],"successfully":[93],"generate":[94],"constrained":[95,125],"samples":[97],"uniform":[100],"distribution.":[101],"based":[106,142],"on":[107,143],"RRT.":[108],"variation":[112],"sample":[115],"generation":[116],"steering":[118],"routines":[119],"which":[120],"suitable":[122],"using":[127],"parameterization.":[131],"Also,":[132],"we":[133],"asymptotically":[136],"optimal":[137],"version":[138],"our":[140],"RRT*":[144],"via":[145],"simulations":[146],"tracking":[150],"presence":[152],"physical":[154],"obstacles.":[155]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
