{"id":"https://openalex.org/W4383875147","doi":"https://doi.org/10.1109/icat57854.2023.10171197","title":"Vision-guided Unified Task and Motion Planning for Multiple Robots in Cluttered Environments","display_name":"Vision-guided Unified Task and Motion Planning for Multiple Robots in Cluttered Environments","publication_year":2023,"publication_date":"2023-06-11","ids":{"openalex":"https://openalex.org/W4383875147","doi":"https://doi.org/10.1109/icat57854.2023.10171197"},"language":"en","primary_location":{"id":"doi:10.1109/icat57854.2023.10171197","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icat57854.2023.10171197","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 XXIX International Conference on Information, Communication and Automation Technologies (ICAT)","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/A5012883835","display_name":"Ilknur Umay","orcid":"https://orcid.org/0000-0002-9368-5920"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Ilknur Umay","raw_affiliation_strings":["University of Waterloo,System Design Eng.,Waterloo,Canada","System Design Eng., University of Waterloo, Waterloo, Canada"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,System Design Eng.,Waterloo,Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"System Design Eng., University of Waterloo, Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112658778","display_name":"William Melek","orcid":"https://orcid.org/0009-0002-5616-0268"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"William Melek","raw_affiliation_strings":["University of Waterloo,Mechanical&Mechatronics Eng.,Waterloo,Canada"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Mechanical&Mechatronics Eng.,Waterloo,Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001551882","display_name":"Bar\u0131\u015f Fi\u0307dan","orcid":"https://orcid.org/0000-0002-5333-0201"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Baris Fidan","raw_affiliation_strings":["University of Waterloo,Mechanical&Mechatronics Eng.,Waterloo,Canada"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Mechanical&Mechatronics Eng.,Waterloo,Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5012883835"],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":null,"apc_paid":null,"fwci":0.1228,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.39165242,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9957000017166138,"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":0.9944000244140625,"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/workspace","display_name":"Workspace","score":0.9419177770614624},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7335691452026367},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7142042517662048},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6182340383529663},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5966135263442993},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.5046170949935913},{"id":"https://openalex.org/keywords/automotive-industry","display_name":"Automotive industry","score":0.4519129693508148},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44529467821121216},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43879061937332153},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4353964924812317},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40447551012039185},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4017813205718994},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3681035041809082},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33047014474868774},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3235149383544922},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14646801352500916},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09937182068824768}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9419177770614624},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7335691452026367},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7142042517662048},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6182340383529663},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5966135263442993},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.5046170949935913},{"id":"https://openalex.org/C526921623","wikidata":"https://www.wikidata.org/wiki/Q190117","display_name":"Automotive industry","level":2,"score":0.4519129693508148},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44529467821121216},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43879061937332153},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4353964924812317},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40447551012039185},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4017813205718994},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3681035041809082},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33047014474868774},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3235149383544922},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14646801352500916},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09937182068824768},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icat57854.2023.10171197","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icat57854.2023.10171197","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 XXIX International Conference on Information, Communication and Automation Technologies (ICAT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1545688112","https://openalex.org/W1558116630","https://openalex.org/W1852202999","https://openalex.org/W2036411373","https://openalex.org/W2044725657","https://openalex.org/W2048223041","https://openalex.org/W2055127591","https://openalex.org/W2075577325","https://openalex.org/W2102128251","https://openalex.org/W2128990851","https://openalex.org/W2141841102","https://openalex.org/W2147168033","https://openalex.org/W2153763317","https://openalex.org/W2214383483","https://openalex.org/W2337392266","https://openalex.org/W2566289115","https://openalex.org/W2967601331","https://openalex.org/W3104753760","https://openalex.org/W3137988885","https://openalex.org/W4230837952","https://openalex.org/W6633530127","https://openalex.org/W6791377104"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966","https://openalex.org/W2048576502"],"abstract_inverted_index":{"Efficient":[0],"coordination":[1],"of":[2,82,117,124,142],"multiple":[3,75],"mobile":[4],"and":[5,71,106,114,152],"fixed":[6],"base":[7],"robot":[8,76],"arms":[9],"to":[10,111,131,156],"perform":[11,157],"independent":[12],"or":[13,58,160],"cooperative":[14],"tasks":[15,89],"in":[16,42,90],"a":[17,24,66,91,125,158],"shared":[18,92,127],"workspace":[19],"while":[20],"avoiding":[21],"collisions":[22],"is":[23,146],"challenging":[25],"research":[26],"problem":[27],"that":[28,84,138],"has":[29],"been":[30],"studied":[31],"across":[32],"various":[33],"robotic":[34,37],"fields.":[35],"Although":[36],"systems":[38,78],"are":[39,85],"commonly":[40],"used":[41],"industrial":[43],"applications":[44],"such":[45],"as":[46],"automotive":[47],"production,":[48],"they":[49],"typically":[50],"operate":[51],"independently":[52],"with":[53,79],"limited":[54],"collaboration":[55],"between":[56,100,135],"two":[57],"more":[59],"units.":[60],"In":[61],"this":[62],"study,":[63],"we":[64],"propose":[65],"unified":[67],"methodology":[68,95],"for":[69,74,148],"motion":[70,108],"task":[72,103,159],"planning":[73,104,109],"arm":[77,136,150,155],"high":[80],"degrees":[81],"freedom":[83],"simultaneously":[86],"performing":[87],"different":[88],"workspace.":[93],"Our":[94],"introduces":[96],"an":[97],"integration":[98],"module":[99,105,110],"the":[101,122,133,143],"high-level":[102],"low-level":[107],"achieve":[112],"reliable":[113],"collision-free":[115],"execution":[116],"tasks.":[118],"We":[119],"also":[120],"introduce":[121],"concept":[123],"dynamic":[126],"space":[128],"graph":[129],"(D-SSG)":[130],"assess":[132],"cooperation":[134],"pairs":[137],"share":[139],"certain":[140],"parts":[141],"workspace,":[144],"which":[145],"essential":[147],"selecting":[149],"sequences":[151],"scheduling":[153],"each":[154],"sub-task.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}