{"id":"https://openalex.org/W1585905277","doi":"https://doi.org/10.1109/icra.2015.7139447","title":"Online motion planning for failure recovery of modular robotic systems","display_name":"Online motion planning for failure recovery of modular robotic systems","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1585905277","doi":"https://doi.org/10.1109/icra.2015.7139447","mag":"1585905277"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139447","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139447","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5083101752","display_name":"Vojt\u011bch Von\u00e1sek","orcid":"https://orcid.org/0000-0001-9224-2151"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Vojtech Vonasek","raw_affiliation_strings":["Ceske Vysoke Uceni Technicke v Praze, Praha, CZ","Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Technicka 2, 166 27 Prague 6, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Ceske Vysoke Uceni Technicke v Praze, Praha, CZ","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Technicka 2, 166 27 Prague 6, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109895101","display_name":"Sergej Neumann","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sergej Neumann","raw_affiliation_strings":["Institute for Process Control and Robotics (IPR), Karlsruhe, Germany","Institute for Process Control and Robotics (IPR), Engler-Bunte-Ring 8, D-76131 Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Process Control and Robotics (IPR), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Process Control and Robotics (IPR), Engler-Bunte-Ring 8, D-76131 Karlsruhe, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110142052","display_name":"D. Oertel","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"David Oertel","raw_affiliation_strings":["Institute for Process Control and Robotics (IPR), Karlsruhe, Germany","Institute for Process Control and Robotics (IPR), Engler-Bunte-Ring 8, D-76131 Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Process Control and Robotics (IPR), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Process Control and Robotics (IPR), Engler-Bunte-Ring 8, D-76131 Karlsruhe, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091849797","display_name":"Heinz W\u00f6rn","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Heinz Worn","raw_affiliation_strings":["Institute for Process Control and Robotics (IPR), Karlsruhe, Germany","Institute for Process Control and Robotics (IPR), Engler-Bunte-Ring 8, D-76131 Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Process Control and Robotics (IPR), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Process Control and Robotics (IPR), Engler-Bunte-Ring 8, D-76131 Karlsruhe, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5083101752"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":1.2321,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.79084636,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"6","issue":null,"first_page":"1905","last_page":"1910"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.988099992275238,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11486","display_name":"Micro and Nano Robotics","score":0.9864000082015991,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.8806531429290771},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8465202450752258},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.7886300086975098},{"id":"https://openalex.org/keywords/spare-part","display_name":"Spare part","score":0.7286018133163452},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6303329467773438},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5555875897407532},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5424831509590149},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4459969997406006},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.40609121322631836},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3965423107147217},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3834158182144165},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28410154581069946},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2690010666847229},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2656713128089905},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.12854287028312683},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08206784725189209}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8806531429290771},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8465202450752258},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.7886300086975098},{"id":"https://openalex.org/C194648553","wikidata":"https://www.wikidata.org/wiki/Q1364774","display_name":"Spare part","level":2,"score":0.7286018133163452},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6303329467773438},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5555875897407532},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5424831509590149},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4459969997406006},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.40609121322631836},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3965423107147217},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3834158182144165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28410154581069946},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2690010666847229},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2656713128089905},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.12854287028312683},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08206784725189209},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139447","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139447","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1541293659","https://openalex.org/W1976579213","https://openalex.org/W1983331595","https://openalex.org/W1987206750","https://openalex.org/W1988251166","https://openalex.org/W2001737450","https://openalex.org/W2036619160","https://openalex.org/W2039881247","https://openalex.org/W2057658519","https://openalex.org/W2065036156","https://openalex.org/W2084603249","https://openalex.org/W2103110887","https://openalex.org/W2138573452","https://openalex.org/W2141202025","https://openalex.org/W2149841830","https://openalex.org/W2156174987","https://openalex.org/W2169307799","https://openalex.org/W2323271044","https://openalex.org/W6700682176"],"related_works":["https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2313074614","https://openalex.org/W2166742878","https://openalex.org/W2130464959","https://openalex.org/W2883992449","https://openalex.org/W1942058526"],"abstract_inverted_index":{"Modular":[0],"robots":[1,14,19,109],"are":[2,20,61],"built":[3],"of":[4,15,36,50,68,107,117,125],"many":[5],"basic":[6],"robotic":[7],"modules":[8,53,60],"that":[9],"can":[10],"be":[11,46,73],"connected":[12],"into":[13],"various":[16],"shapes.":[17],"These":[18],"able":[21],"to":[22,54,75,79,86,93,104,112,129],"recover":[23,130],"from":[24,131],"a":[25,65,69,81,136,141],"failure":[26,37],"by":[27],"ejecting":[28],"and":[29,138],"replacing":[30],"damaged":[31,70],"modules.":[32,97],"Although":[33],"this":[34,99],"type":[35],"recovery":[38],"is":[39,133],"usually":[40],"suggested":[41],"in":[42,135,140],"literature,":[43],"it":[44],"may":[45],"precluded":[47],"due":[48],"inability":[49],"the":[51,77,91,95,115,126],"broken":[52,96],"cooperate":[55],"or":[56,84],"if":[57],"no":[58],"spare":[59],"available.":[62],"In":[63,98],"such":[64],"case,":[66],"locomotion":[67],"robot":[71,78],"should":[72],"adapted":[74],"allow":[76],"reach":[80],"repair":[82],"station":[83],"even":[85],"finish":[87],"its":[88],"task":[89],"without":[90],"need":[92],"exchange":[94],"paper,":[100],"we":[101],"investigate":[102],"how":[103],"adapt":[105],"motions":[106],"modular":[108],"with":[110,120],"respect":[111],"failures":[113,132],"using":[114],"concept":[116],"motion":[118,121],"planning":[119],"primitives.":[122],"The":[123],"ability":[124],"proposed":[127],"system":[128],"verified":[134],"simulation":[137],"also":[139],"HW":[142],"experiment.":[143]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}