{"id":"https://openalex.org/W1989527597","doi":"https://doi.org/10.1109/icra.2013.6631224","title":"A case study on the Tower of Hanoi challenge: Representation, reasoning and execution","display_name":"A case study on the Tower of Hanoi challenge: Representation, reasoning and execution","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W1989527597","doi":"https://doi.org/10.1109/icra.2013.6631224","mag":"1989527597"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631224","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5051215011","display_name":"Giray Havur","orcid":"https://orcid.org/0000-0002-6898-6166"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Giray Havur","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul, Turkey","Fac. of Eng. & Natural Sci., Sabanci Univ, Istanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Fac. of Eng. & Natural Sci., Sabanci Univ, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030283629","display_name":"Kadir Haspalamutgil","orcid":null},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Kadir Haspalamutgil","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul, Turkey","Fac. of Eng. & Natural Sci., Sabanci Univ, Istanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Fac. of Eng. & Natural Sci., Sabanci Univ, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055285761","display_name":"Can Palaz","orcid":null},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Can Palaz","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul, Turkey","Fac. of Eng. & Natural Sci., Sabanci Univ, Istanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Fac. of Eng. & Natural Sci., Sabanci Univ, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016455314","display_name":"Esra Erdem","orcid":"https://orcid.org/0000-0001-8384-7810"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Esra Erdem","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul, Turkey","Fac. of Eng. & Natural Sci., Sabanci Univ, Istanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Fac. of Eng. & Natural Sci., Sabanci Univ, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017793258","display_name":"Volkan Pato\u011flu","orcid":"https://orcid.org/0000-0001-6644-3937"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Volkan Patoglu","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul, Turkey","Fac. of Eng. & Natural Sci., Sabanci Univ, Istanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Fac. of Eng. & Natural Sci., Sabanci Univ, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I134235054"],"apc_list":null,"apc_paid":null,"fwci":3.8897,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.94813755,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"2","issue":null,"first_page":"4552","last_page":"4559"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/tower","display_name":"Tower","score":0.7092171907424927},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6336176991462708},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5946940183639526},{"id":"https://openalex.org/keywords/case-based-reasoning","display_name":"Case-based reasoning","score":0.5220446586608887},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4195118546485901},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16787776350975037},{"id":"https://openalex.org/keywords/civil-engineering","display_name":"Civil engineering","score":0.08191952109336853}],"concepts":[{"id":"https://openalex.org/C2777831296","wikidata":"https://www.wikidata.org/wiki/Q12518","display_name":"Tower","level":2,"score":0.7092171907424927},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6336176991462708},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5946940183639526},{"id":"https://openalex.org/C20162079","wikidata":"https://www.wikidata.org/wiki/Q1151406","display_name":"Case-based reasoning","level":2,"score":0.5220446586608887},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4195118546485901},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16787776350975037},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.08191952109336853},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2013.6631224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631224","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:research.sabanciuniv.edu:23782","is_oa":false,"landing_page_url":"https://research.sabanciuniv.edu/id/eprint/23782/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402254","display_name":"Sabanci University","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134235054","host_organization_name":"Sabanc\u0131 \u00dcniversitesi","host_organization_lineage":["https://openalex.org/I134235054"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"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":66,"referenced_works":["https://openalex.org/W16661495","https://openalex.org/W53449816","https://openalex.org/W131069610","https://openalex.org/W189303310","https://openalex.org/W189652126","https://openalex.org/W200348229","https://openalex.org/W1485898611","https://openalex.org/W1498722751","https://openalex.org/W1500929312","https://openalex.org/W1503579586","https://openalex.org/W1513230022","https://openalex.org/W1549946801","https://openalex.org/W1579057559","https://openalex.org/W1587191403","https://openalex.org/W1594286918","https://openalex.org/W1608396689","https://openalex.org/W1667362966","https://openalex.org/W1854253636","https://openalex.org/W1903938722","https://openalex.org/W1993410341","https://openalex.org/W2010880586","https://openalex.org/W2024256451","https://openalex.org/W2032560235","https://openalex.org/W2035381971","https://openalex.org/W2072046078","https://openalex.org/W2075577325","https://openalex.org/W2076698873","https://openalex.org/W2091138122","https://openalex.org/W2101666345","https://openalex.org/W2104583282","https://openalex.org/W2123081414","https://openalex.org/W2128990851","https://openalex.org/W2132467020","https://openalex.org/W2135639338","https://openalex.org/W2138162238","https://openalex.org/W2141664020","https://openalex.org/W2143602574","https://openalex.org/W2143936212","https://openalex.org/W2159798335","https://openalex.org/W2253017756","https://openalex.org/W2254707053","https://openalex.org/W2278648449","https://openalex.org/W2350301628","https://openalex.org/W2540258482","https://openalex.org/W2604772735","https://openalex.org/W2945259913","https://openalex.org/W3215274301","https://openalex.org/W6600716474","https://openalex.org/W6602178633","https://openalex.org/W6607591903","https://openalex.org/W6607722874","https://openalex.org/W6608188203","https://openalex.org/W6629002335","https://openalex.org/W6629951148","https://openalex.org/W6632897595","https://openalex.org/W6635541085","https://openalex.org/W6636950635","https://openalex.org/W6639535287","https://openalex.org/W6675851545","https://openalex.org/W6680341452","https://openalex.org/W6680928980","https://openalex.org/W6681431202","https://openalex.org/W6683439855","https://openalex.org/W6694704193","https://openalex.org/W6705183654","https://openalex.org/W6804517709"],"related_works":["https://openalex.org/W1549289070","https://openalex.org/W1576211907","https://openalex.org/W1889934247","https://openalex.org/W2043926798","https://openalex.org/W2104995483","https://openalex.org/W2369825217","https://openalex.org/W2379506291","https://openalex.org/W2092986654","https://openalex.org/W2079632337","https://openalex.org/W2991286519"],"abstract_inverted_index":{"The":[0],"Tower":[1],"of":[2,16,39,43,112],"Hanoi":[3],"puzzle,":[4],"has":[5],"recently":[6],"been":[7],"established":[8],"as":[9,13,106],"a":[10,14,31,56,67,82,87,123],"robotics":[11],"challenge":[12,54],"part":[15],"EU":[17],"Robotics":[18],"coordination":[19],"action":[20],"in":[21,27,66],"2011":[22],"and":[23,49,59,73,102],"IEEE":[24],"IROS":[25],"Conference":[26],"2012.":[28],"It":[29],"provides":[30],"good":[32],"standardized":[33],"test":[34],"bed":[35],"to":[36],"evaluate":[37],"integration":[38],"high-level":[40],"reasoning":[41],"capabilities":[42],"robots":[44],"together":[45],"with":[46,81],"their":[47],"manipulation":[48],"perception":[50],"aspects.We":[51],"address":[52],"this":[53,77,113],"within":[55],"general":[57],"planning":[58,72,79],"monitoring":[60,99],"framework:":[61],"we":[62],"represent":[63],"the":[64,91,110],"puzzle":[65],"logic-based":[68],"formalism,":[69],"integrate":[70],"task":[71],"motion":[74],"planning,":[75],"solve":[76],"hybrid":[78],"problem":[80],"state-of-the-art":[83],"automated":[84],"reasoner":[85],"(e.g.,":[86],"SAT":[88],"solver),":[89],"execute":[90],"computed":[92],"plans":[93],"under":[94],"feedback":[95],"control":[96],"while":[97],"also":[98],"for":[100],"failures,":[101],"recover":[103],"from":[104],"failures":[105],"required.":[107],"We":[108],"show":[109],"applicability":[111],"framework":[114],"by":[115],"implementing":[116],"it":[117],"using":[118],"two":[119],"robotic":[120],"manipulators":[121],"on":[122],"physical":[124],"experimental":[125],"setup.":[126]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
