{"id":"https://openalex.org/W1990076499","doi":"https://doi.org/10.1109/icra.2014.6907817","title":"PROT: Productive regions oriented task space path planning for hyper-redundant manipulators","display_name":"PROT: Productive regions oriented task space path planning for hyper-redundant manipulators","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W1990076499","doi":"https://doi.org/10.1109/icra.2014.6907817","mag":"1990076499"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907817","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":"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/A5100446516","display_name":"Junghwan Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Junghwan Lee","raw_affiliation_strings":["Dept. of CS, KAIST, Daejeon, South Korea","[Department of CS, KAIST, Daejeon, South Korea]"],"affiliations":[{"raw_affiliation_string":"Dept. of CS, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"[Department of CS, KAIST, Daejeon, South Korea]","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078173428","display_name":"Sung\u2010Eui Yoon","orcid":"https://orcid.org/0000-0002-7123-1119"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung-eui Yoon","raw_affiliation_strings":["Dept. of CS, KAIST, Daejeon, South Korea","[Department of CS, KAIST, Daejeon, South Korea]"],"affiliations":[{"raw_affiliation_string":"Dept. of CS, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"[Department of CS, KAIST, Daejeon, South Korea]","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100446516"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.2439,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.56094445,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9979000091552734,"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/computer-science","display_name":"Computer science","score":0.6373482942581177},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5925629734992981},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5595157146453857},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.554023265838623},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5484285950660706},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.5419034361839294},{"id":"https://openalex.org/keywords/mras","display_name":"MRAS","score":0.49244460463523865},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.453741192817688},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42840105295181274},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4167908728122711},{"id":"https://openalex.org/keywords/cover","display_name":"Cover (algebra)","score":0.4134672284126282},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3604288101196289},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1989060640335083},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.13063374161720276},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10294836759567261},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09158554673194885},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06986063718795776}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6373482942581177},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5925629734992981},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5595157146453857},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.554023265838623},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5484285950660706},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.5419034361839294},{"id":"https://openalex.org/C2781098865","wikidata":"https://www.wikidata.org/wiki/Q18036502","display_name":"MRAS","level":5,"score":0.49244460463523865},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.453741192817688},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42840105295181274},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4167908728122711},{"id":"https://openalex.org/C2780428219","wikidata":"https://www.wikidata.org/wiki/Q16952335","display_name":"Cover (algebra)","level":2,"score":0.4134672284126282},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3604288101196289},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1989060640335083},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.13063374161720276},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10294836759567261},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09158554673194885},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06986063718795776},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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/C152060993","wikidata":"https://www.wikidata.org/wiki/Q1759392","display_name":"Vector control","level":4,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907817","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4300000071525574}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W143844323","https://openalex.org/W1560270123","https://openalex.org/W1842017619","https://openalex.org/W1982442957","https://openalex.org/W1991290239","https://openalex.org/W2010690223","https://openalex.org/W2029652111","https://openalex.org/W2036016432","https://openalex.org/W2042803738","https://openalex.org/W2046748649","https://openalex.org/W2049105030","https://openalex.org/W2049617391","https://openalex.org/W2069666248","https://openalex.org/W2095668460","https://openalex.org/W2103120971","https://openalex.org/W2106473816","https://openalex.org/W2109212155","https://openalex.org/W2112624395","https://openalex.org/W2113706627","https://openalex.org/W2118277339","https://openalex.org/W2118356379","https://openalex.org/W2127071296","https://openalex.org/W2133755292","https://openalex.org/W2138358425","https://openalex.org/W2140403608","https://openalex.org/W2141664020","https://openalex.org/W2157543942","https://openalex.org/W2540027626","https://openalex.org/W3088063282","https://openalex.org/W3140434919","https://openalex.org/W6605798267","https://openalex.org/W6648231039","https://openalex.org/W6676022314"],"related_works":["https://openalex.org/W1546200832","https://openalex.org/W3148891413","https://openalex.org/W2363573601","https://openalex.org/W2468121056","https://openalex.org/W2391021305","https://openalex.org/W2626844307","https://openalex.org/W2558286058","https://openalex.org/W2015384464","https://openalex.org/W4389724377","https://openalex.org/W2067790096"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3,83,104,136],"propose":[4],"a":[5,16,33,42,48,54,67,77,110],"novel":[6],"efficient":[7],"sampling":[8,90,112,129,139],"bias":[9,88,137],"technique":[10],"to":[11,41,91,140,156,171,193],"improve":[12],"the":[13,29,59,70,74,80,96,101,120,176,185],"performance":[14],"of":[15,35,76,124,159,187],"task":[17,30,71,166,178],"space":[18,31,153,167,179],"trajectory":[19],"planner":[20,65,154],"for":[21,66,114],"hyper-redundant":[22],"manipulators.":[23],"We":[24,45,145,181],"defines":[25],"productive":[26,133],"regions":[27],"in":[28,69,161],"as":[32],"set":[34],"states":[36],"that":[37],"can":[38,56],"lead":[39],"effectively":[40],"goal":[43,81,102],"state.":[44],"first":[46],"compute":[47],"maximum":[49],"reachable":[50],"area":[51],"(MRA)":[52],"where":[53],"robot":[55,196],"reach":[57],"from":[58,117],"node":[60,68,78],"by":[61,190],"an":[62],"employed":[63],"local":[64],"space.":[72],"When":[73,95],"MRA":[75,97],"contains":[79],"state,":[82,103],"call":[84,105],"it":[85,106,192],"promising":[86,93,125],"and":[87,108,127,135,168],"our":[89,132,138,148,188],"cover":[92,141],"MRAs.":[94],"does":[98],"not":[99],"contain":[100],"unpromising":[107],"construct":[109],"detour":[111,128],"domain":[113],"detouring":[115],"operations":[116],"obstacles":[118],"constraining":[119],"manipulator.":[121],"The":[122],"union":[123],"MRAs":[126],"domains":[130,143],"approximates":[131],"regions,":[134],"these":[142],"more.":[144],"have":[146,182],"applied":[147],"Productive":[149],"Regions":[150],"Oriented":[151],"Task":[152],"(PROT)":[155],"various":[157],"types":[158],"robots":[160],"R":[162],"<sup":[163],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[164],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[165],"achieved":[169],"up":[170],"3.54":[172],"times":[173],"improvement":[174],"over":[175],"state-of-the-art":[177],"planner.":[180],"additionally":[183],"verified":[184],"benefits":[186],"method":[189],"applying":[191],"cabled":[194],"mobile":[195],"planning.":[197]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
