{"id":"https://openalex.org/W2003005306","doi":"https://doi.org/10.1109/icra.2014.6907032","title":"Formal verification of a collision-free algorithm of dual-arm robot in HOL4","display_name":"Formal verification of a collision-free algorithm of dual-arm robot in HOL4","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2003005306","doi":"https://doi.org/10.1109/icra.2014.6907032","mag":"2003005306"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907032","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907032","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5100429624","display_name":"Liming Li","orcid":"https://orcid.org/0000-0002-6769-0179"},"institutions":[{"id":"https://openalex.org/I96852419","display_name":"Capital Normal University","ror":"https://ror.org/005edt527","country_code":"CN","type":"education","lineage":["https://openalex.org/I96852419"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liming Li","raw_affiliation_strings":["Beijing Key Laboratory of Electronic System Reliability Technology, Capital Normal University, China","Beijing Key Laboratory of Electronic System Reliability Technology, Capital Normal University, 100048 Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Electronic System Reliability Technology, Capital Normal University, China","institution_ids":["https://openalex.org/I96852419"]},{"raw_affiliation_string":"Beijing Key Laboratory of Electronic System Reliability Technology, Capital Normal University, 100048 Beijing, China","institution_ids":["https://openalex.org/I96852419"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072412248","display_name":"Zhiping Shi","orcid":"https://orcid.org/0000-0002-3562-8602"},"institutions":[{"id":"https://openalex.org/I96852419","display_name":"Capital Normal University","ror":"https://ror.org/005edt527","country_code":"CN","type":"education","lineage":["https://openalex.org/I96852419"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiping Shi","raw_affiliation_strings":["Beijing Key Laboratory of Electronic System Reliability Technology, Capital Normal University, China","Beijing Key Laboratory of Electronic System Reliability Technology, Capital Normal University, 100048 Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Electronic System Reliability Technology, Capital Normal University, China","institution_ids":["https://openalex.org/I96852419"]},{"raw_affiliation_string":"Beijing Key Laboratory of Electronic System Reliability Technology, Capital Normal University, 100048 Beijing, China","institution_ids":["https://openalex.org/I96852419"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087366755","display_name":"Yong Guan","orcid":"https://orcid.org/0000-0002-2373-2779"},"institutions":[{"id":"https://openalex.org/I96852419","display_name":"Capital Normal University","ror":"https://ror.org/005edt527","country_code":"CN","type":"education","lineage":["https://openalex.org/I96852419"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Guan","raw_affiliation_strings":["Beijing Key Laboratory of Electronic System Reliability Technology, Capital Normal University, China","Beijing Key Laboratory of Electronic System Reliability Technology, Capital Normal University, 100048 Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Electronic System Reliability Technology, Capital Normal University, China","institution_ids":["https://openalex.org/I96852419"]},{"raw_affiliation_string":"Beijing Key Laboratory of Electronic System Reliability Technology, Capital Normal University, 100048 Beijing, China","institution_ids":["https://openalex.org/I96852419"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064228651","display_name":"Chunna Zhao","orcid":"https://orcid.org/0000-0002-0019-1041"},"institutions":[{"id":"https://openalex.org/I96852419","display_name":"Capital Normal University","ror":"https://ror.org/005edt527","country_code":"CN","type":"education","lineage":["https://openalex.org/I96852419"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunna Zhao","raw_affiliation_strings":["Beijing Key Laboratory of Electronic System Reliability Technology, Capital Normal University, China","Beijing Key Laboratory of Electronic System Reliability Technology, Capital Normal University, 100048 Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Electronic System Reliability Technology, Capital Normal University, China","institution_ids":["https://openalex.org/I96852419"]},{"raw_affiliation_string":"Beijing Key Laboratory of Electronic System Reliability Technology, Capital Normal University, 100048 Beijing, China","institution_ids":["https://openalex.org/I96852419"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100436894","display_name":"Jie Zhang","orcid":"https://orcid.org/0000-0003-4335-3546"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhang","raw_affiliation_strings":["College of Information Science & Technology, Beijing University of Chemical Technology, Beijing, China","College of Information Science and Technology, Beijing University of Chemical Technology, 100029 Beijing (China)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science & Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]},{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, 100029 Beijing (China)","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109096287","display_name":"Hongxing Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongxing Wei","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, China","School of Mechanical Engineering and Automation, Beihang University, 100083 Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, 100083 Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1380","last_page":"1385"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9958999752998352,"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/correctness","display_name":"Correctness","score":0.833147406578064},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6668773889541626},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.648536741733551},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5886291265487671},{"id":"https://openalex.org/keywords/automated-theorem-proving","display_name":"Automated theorem proving","score":0.4947485625743866},{"id":"https://openalex.org/keywords/formal-verification","display_name":"Formal verification","score":0.45157095789909363},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27586066722869873}],"concepts":[{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.833147406578064},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6668773889541626},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.648536741733551},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5886291265487671},{"id":"https://openalex.org/C206880738","wikidata":"https://www.wikidata.org/wiki/Q431667","display_name":"Automated theorem proving","level":2,"score":0.4947485625743866},{"id":"https://openalex.org/C111498074","wikidata":"https://www.wikidata.org/wiki/Q173326","display_name":"Formal verification","level":2,"score":0.45157095789909363},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27586066722869873}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907032","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907032","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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":13,"referenced_works":["https://openalex.org/W1533238174","https://openalex.org/W1545681762","https://openalex.org/W1560094997","https://openalex.org/W1578750710","https://openalex.org/W1990870079","https://openalex.org/W2023091179","https://openalex.org/W2035117740","https://openalex.org/W2040115358","https://openalex.org/W2149055849","https://openalex.org/W2150335178","https://openalex.org/W2151958719","https://openalex.org/W2358956112","https://openalex.org/W6660754925"],"related_works":["https://openalex.org/W2624478615","https://openalex.org/W4297811169","https://openalex.org/W2606974619","https://openalex.org/W1937494301","https://openalex.org/W2111870610","https://openalex.org/W2166178773","https://openalex.org/W2171429234","https://openalex.org/W2071719260","https://openalex.org/W2001092196","https://openalex.org/W1824202381"],"abstract_inverted_index":{"Possessing":[0],"two":[1,19,44],"manipulators":[2,20,45,148],"heightens":[3],"the":[4,18,43,51,69,80,114,134,141,146,150,165,170],"ability":[5],"of":[6,54,71,118,143,145,169],"dual-arm":[7],"robots":[8],"(DAR)":[9],"to":[10,41,60,77,90,95,112],"conduct":[11],"complex":[12],"tasks,":[13],"while":[14],"raising":[15],"hazard":[16],"that":[17,79,173],"might":[21],"collide":[22],"with":[23,27,34,133,162,185],"each":[24],"other":[25,28],"or":[26],"objects.":[29],"DARs":[30,98],"are":[31,58],"usually":[32],"equipped":[33],"a":[35,119,178],"collision-free":[36],"motion":[37,52],"planning":[38],"algorithms":[39],"(CFMPA)":[40],"prevent":[42],"from":[46],"colliding.":[47],"The":[48,122],"CFMPA":[49,123],"searches":[50],"paths":[53],"robot":[55,147],"manipulators,":[56],"which":[57],"expected":[59],"be":[61],"as":[62,66,181],"short":[63],"and":[64,84,116,126,167],"smooth":[65],"possible":[67],"under":[68],"premise":[70],"ensuring":[72],"safety.":[73],"It":[74,86],"is":[75,82,87,110,124,152,157],"important":[76],"ensure":[78],"algorithm":[81,151,156,172],"correct":[83],"efficient.":[85],"not":[88],"enough":[89],"apply":[91],"traditional":[92],"test":[93],"methods":[94],"determine":[96],"whether":[97],"can":[99],"work":[100],"in":[101,129,140,149,183],"safety-critical":[102],"applications.":[103],"In":[104],"this":[105],"paper,":[106],"theorem":[107,135],"proving":[108],"technology":[109],"employed":[111],"analyze":[113],"correctness":[115,166],"efficiency":[117,168],"classical":[120],"CFMPA.":[121],"outlined,":[125],"then":[127],"formalized":[128],"high":[130],"order":[131],"logic":[132],"prover":[136],"HOL4.":[137],"An":[138,154],"inconsistency":[139],"range":[142],"motions":[144],"discovered.":[153],"improved":[155],"therefore":[158],"proposed.":[159],"Formal":[160],"verification":[161],"HOL4":[163],"proves":[164],"proposed":[171],"has":[174],"already":[175],"run":[176],"on":[177],"real":[179],"DAR":[180],"well,":[182],"conformity":[184],"our":[186],"expectation.":[187]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}