{"id":"https://openalex.org/W2114954768","doi":"https://doi.org/10.1109/icra.2011.5980184","title":"Autonomous movement generation for manipulators with multiple simultaneous constraints using the attractor dynamics approach","display_name":"Autonomous movement generation for manipulators with multiple simultaneous constraints using the attractor dynamics approach","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2114954768","doi":"https://doi.org/10.1109/icra.2011.5980184","mag":"2114954768"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980184","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980184","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5033862542","display_name":"Hendrik Reimann","orcid":"https://orcid.org/0000-0002-3418-9345"},"institutions":[{"id":"https://openalex.org/I904495901","display_name":"Ruhr University Bochum","ror":"https://ror.org/04tsk2644","country_code":"DE","type":"education","lineage":["https://openalex.org/I904495901"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hendrik Reimann","raw_affiliation_strings":["Institut f\u00fcr Neuroinformatik, Ruhr Universit\u00e4t Bochum, Bochum, Germany","Institut f\u00fcr Neuroinformatik, Ruhr-Universit\u00e4t Bochum, 44801, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut f\u00fcr Neuroinformatik, Ruhr Universit\u00e4t Bochum, Bochum, Germany","institution_ids":["https://openalex.org/I904495901"]},{"raw_affiliation_string":"Institut f\u00fcr Neuroinformatik, Ruhr-Universit\u00e4t Bochum, 44801, Germany","institution_ids":["https://openalex.org/I904495901"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084075127","display_name":"Ioannis Iossifidis","orcid":"https://orcid.org/0000-0002-9876-4396"},"institutions":[{"id":"https://openalex.org/I4210123225","display_name":"Ruhr West University of Applied Sciences","ror":"https://ror.org/02nkxrq89","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210123225"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ioannis Iossifidis","raw_affiliation_strings":["Institute of Applied Computer Science, Ruhr West University of Applied Science, Mulheim an der Ruhr, Germany","Institute of Applied Computer Science, Ruhr West University of Applied Science, 45470 M\u00fclheim an der Ruhr, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Applied Computer Science, Ruhr West University of Applied Science, Mulheim an der Ruhr, Germany","institution_ids":["https://openalex.org/I4210123225"]},{"raw_affiliation_string":"Institute of Applied Computer Science, Ruhr West University of Applied Science, 45470 M\u00fclheim an der Ruhr, Germany","institution_ids":["https://openalex.org/I4210123225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036033950","display_name":"Gregor Sch\u00f6ner","orcid":"https://orcid.org/0000-0002-4776-9998"},"institutions":[{"id":"https://openalex.org/I904495901","display_name":"Ruhr University Bochum","ror":"https://ror.org/04tsk2644","country_code":"DE","type":"education","lineage":["https://openalex.org/I904495901"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gregor Schoner","raw_affiliation_strings":["Institut f\u00fcr Neuroinformatik, Ruhr Universit\u00e4t Bochum, Bochum, Germany","Institut f\u00fcr Neuroinformatik, Ruhr-Universit\u00e4t Bochum, 44801, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut f\u00fcr Neuroinformatik, Ruhr Universit\u00e4t Bochum, Bochum, Germany","institution_ids":["https://openalex.org/I904495901"]},{"raw_affiliation_string":"Institut f\u00fcr Neuroinformatik, Ruhr-Universit\u00e4t Bochum, 44801, Germany","institution_ids":["https://openalex.org/I904495901"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1401,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.90730312,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5470","last_page":"5477"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9998000264167786,"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":0.9976000189781189,"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/attractor","display_name":"Attractor","score":0.785680890083313},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6934409141540527},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5974723100662231},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5824569463729858},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5584631562232971},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.47528186440467834},{"id":"https://openalex.org/keywords/constraint-satisfaction","display_name":"Constraint satisfaction","score":0.470463365316391},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.469585120677948},{"id":"https://openalex.org/keywords/dynamical-system","display_name":"Dynamical system (definition)","score":0.444886714220047},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4367644488811493},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.41475972533226013},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.41110119223594666},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3929613530635834},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3159206211566925},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3025321662425995},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22323530912399292},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2065248191356659},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1886952519416809},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17481136322021484}],"concepts":[{"id":"https://openalex.org/C164380108","wikidata":"https://www.wikidata.org/wiki/Q507187","display_name":"Attractor","level":2,"score":0.785680890083313},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6934409141540527},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5974723100662231},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5824569463729858},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5584631562232971},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.47528186440467834},{"id":"https://openalex.org/C44616089","wikidata":"https://www.wikidata.org/wiki/Q30158686","display_name":"Constraint satisfaction","level":3,"score":0.470463365316391},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.469585120677948},{"id":"https://openalex.org/C33962884","wikidata":"https://www.wikidata.org/wiki/Q378637","display_name":"Dynamical system (definition)","level":3,"score":0.444886714220047},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4367644488811493},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.41475972533226013},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.41110119223594666},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3929613530635834},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3159206211566925},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3025321662425995},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22323530912399292},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2065248191356659},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1886952519416809},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17481136322021484},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980184","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980184","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1521785144","https://openalex.org/W2042909696","https://openalex.org/W2085444192","https://openalex.org/W2100476631","https://openalex.org/W2103120971","https://openalex.org/W2110304639","https://openalex.org/W2110612452","https://openalex.org/W2110738125","https://openalex.org/W2125880285","https://openalex.org/W2152931064","https://openalex.org/W2161395589","https://openalex.org/W4242811155","https://openalex.org/W6676348739"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2624388109","https://openalex.org/W2022120107","https://openalex.org/W4322628047","https://openalex.org/W2102947728"],"abstract_inverted_index":{"The":[0,86],"movement":[1,30],"of":[2,14,48,64,72,82,97,120,145,155,171],"autonomous":[3],"agents":[4],"in":[5,76,173],"natural":[6],"environments":[7],"is":[8,152],"restricted":[9],"by":[10,35,161,181],"potentially":[11],"large":[12,169],"numbers":[13],"constraints.":[15],"To":[16],"generate":[17],"behavior":[18],"that":[19,68,118],"fulfills":[20],"all":[21],"given":[22],"constraints":[23,107,137,172],"simultaneously,":[24],"the":[25,61,70,73,80,83,95,142,156],"attractor":[26,87],"dynamics":[27,88],"approach":[28,89],"to":[29,79,94],"generation":[31,96],"represents":[32],"each":[33],"constraint":[34,144],"a":[36,49,65,125,162,168],"dynamical":[37,53],"system":[38,75,126,158],"with":[39,103,167],"attractors":[40],"or":[41,45],"repellors":[42],"at":[43],"desired":[44],"undesired":[46],"values":[47],"relevant":[50],"variable.":[51],"These":[52],"systems":[54],"are":[55,159,179],"transformed":[56],"into":[57],"vector":[58],"fields":[59],"over":[60],"control":[62],"variables":[63],"robotic":[66],"agent":[67],"force":[69],"state":[71],"whole":[74],"directions":[77],"beneficial":[78],"satisfaction":[81],"behavioral":[84],"constraint.":[85],"was":[90],"recently":[91],"successfully":[92],"applied":[93],"manipulator":[98],"motion":[99],"trajectories":[100],"avoiding":[101,146],"collision":[102],"obstacles":[104],"[1]":[105],"and":[106,113,134],"on":[108],"gripper":[109,135],"orientation":[110,136],"during":[111],"reaching":[112],"grasping":[114],"movements":[115,129,166],"[2].":[116],"Continuing":[117],"body":[119],"work,":[121],"this":[122],"paper":[123],"proposes":[124],"which":[127],"generates":[128],"satisfying":[130],"both":[131],"obstacle":[132],"avoidance":[133],"simultaneously.":[138],"As":[139],"an":[140],"extension,":[141],"additional":[143],"hardware":[147],"limits":[148],"for":[149],"joint":[150],"angles":[151],"included.":[153],"Properties":[154],"resulting":[157],"demonstrated":[160],"systematic":[163],"study":[164],"generating":[165],"number":[170],"different":[174],"scene":[175],"setups.":[176],"Specific":[177],"characteristics":[178],"highlighted":[180],"several":[182],"showcase":[183],"example":[184],"movements.":[185]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
