{"id":"https://openalex.org/W1517943492","doi":"https://doi.org/10.1109/icra.2015.7139973","title":"RoboFlow: A flow-based visual programming language for mobile manipulation tasks","display_name":"RoboFlow: A flow-based visual programming language for mobile manipulation tasks","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1517943492","doi":"https://doi.org/10.1109/icra.2015.7139973","mag":"1517943492"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139973","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139973","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/A5027535062","display_name":"Sonya Alexandrova","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sonya Alexandrova","raw_affiliation_strings":["Computer Science and Engineering Department, University of Washington, Seattle, WA, USA","Computer Science & Engineering Department, University of Washington, Seattle, 98195, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Department, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Computer Science & Engineering Department, University of Washington, Seattle, 98195, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042187082","display_name":"Zachary Tatlock","orcid":"https://orcid.org/0000-0002-4731-0124"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary Tatlock","raw_affiliation_strings":["Computer Science and Engineering Department, University of Washington, Seattle, WA, USA","Computer Science & Engineering Department, University of Washington, Seattle, 98195, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Department, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Computer Science & Engineering Department, University of Washington, Seattle, 98195, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063086622","display_name":"Maya \u00c7akmak","orcid":"https://orcid.org/0000-0001-8457-6610"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maya Cakmak","raw_affiliation_strings":["Computer Science and Engineering Department, University of Washington, Seattle, WA, USA","Computer Science & Engineering Department, University of Washington, Seattle, 98195, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Department, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Computer Science & Engineering Department, University of Washington, Seattle, 98195, USA","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":11.928,"has_fulltext":false,"cited_by_count":140,"citation_normalized_percentile":{"value":0.98110529,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5537","last_page":"5544"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10533","display_name":"Teaching and Learning Programming","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"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/T10533","display_name":"Teaching and Learning Programming","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"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":0.9954000115394592,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9936000108718872,"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/computer-science","display_name":"Computer science","score":0.8287400603294373},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6279982328414917},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5738943815231323},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.508051872253418},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.46917158365249634},{"id":"https://openalex.org/keywords/visual-programming-language","display_name":"Visual programming language","score":0.46823400259017944},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44646596908569336},{"id":"https://openalex.org/keywords/reactive-programming","display_name":"Reactive programming","score":0.44353169202804565},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.4385858178138733},{"id":"https://openalex.org/keywords/inductive-programming","display_name":"Inductive programming","score":0.37794822454452515},{"id":"https://openalex.org/keywords/programming-paradigm","display_name":"Programming paradigm","score":0.3741258978843689},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.29833126068115234}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8287400603294373},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6279982328414917},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5738943815231323},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.508051872253418},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.46917158365249634},{"id":"https://openalex.org/C128644962","wikidata":"https://www.wikidata.org/wiki/Q683111","display_name":"Visual programming language","level":2,"score":0.46823400259017944},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44646596908569336},{"id":"https://openalex.org/C150762246","wikidata":"https://www.wikidata.org/wiki/Q4354073","display_name":"Reactive programming","level":4,"score":0.44353169202804565},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.4385858178138733},{"id":"https://openalex.org/C50033165","wikidata":"https://www.wikidata.org/wiki/Q15712089","display_name":"Inductive programming","level":3,"score":0.37794822454452515},{"id":"https://openalex.org/C34165917","wikidata":"https://www.wikidata.org/wiki/Q188267","display_name":"Programming paradigm","level":2,"score":0.3741258978843689},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.29833126068115234},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139973","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139973","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":42,"referenced_works":["https://openalex.org/W1502767928","https://openalex.org/W1511796393","https://openalex.org/W1513101410","https://openalex.org/W1540685400","https://openalex.org/W1540823594","https://openalex.org/W1684361744","https://openalex.org/W1967177263","https://openalex.org/W1971890413","https://openalex.org/W1979253984","https://openalex.org/W1986014385","https://openalex.org/W1999874108","https://openalex.org/W2001006503","https://openalex.org/W2001959118","https://openalex.org/W2004473378","https://openalex.org/W2006698373","https://openalex.org/W2014073163","https://openalex.org/W2014596857","https://openalex.org/W2018859600","https://openalex.org/W2020149918","https://openalex.org/W2025427190","https://openalex.org/W2028319081","https://openalex.org/W2034912654","https://openalex.org/W2064189581","https://openalex.org/W2084944215","https://openalex.org/W2092187831","https://openalex.org/W2112469617","https://openalex.org/W2119299928","https://openalex.org/W2130756137","https://openalex.org/W2143322480","https://openalex.org/W2194057693","https://openalex.org/W2296594443","https://openalex.org/W2339354324","https://openalex.org/W2412306367","https://openalex.org/W2580674146","https://openalex.org/W4211008118","https://openalex.org/W4240634968","https://openalex.org/W4255149377","https://openalex.org/W4256346398","https://openalex.org/W6632235069","https://openalex.org/W6679568851","https://openalex.org/W6687375543","https://openalex.org/W6732771844"],"related_works":["https://openalex.org/W2022585506","https://openalex.org/W2168919542","https://openalex.org/W1943224404","https://openalex.org/W810183824","https://openalex.org/W2038853506","https://openalex.org/W351396276","https://openalex.org/W2027493544","https://openalex.org/W2127077950","https://openalex.org/W4385680606","https://openalex.org/W4205109303"],"abstract_inverted_index":{"General-purpose":[0],"robots":[1,34],"can":[2,36,67],"perform":[3],"a":[4,77,98,106,140],"range":[5],"of":[6,45,87,102,137,152],"useful":[7],"tasks":[8,159],"in":[9,18,42,55,64,160],"human":[10,161],"environments;":[11],"however,":[12],"programming":[13,80,86,114],"them":[14],"to":[15,32,52,95,119],"robustly":[16,53],"function":[17,54],"all":[19],"possible":[20,118],"environments":[21],"that":[22,35,48,72,84,127],"they":[23],"might":[24],"encounter":[25],"is":[26,93],"unfeasible.":[27],"Instead,":[28],"our":[29],"research":[30],"aims":[31],"develop":[33],"be":[37],"programmed":[38],"by":[39],"its":[40],"end-users":[41,66],"their":[43,69],"context":[44],"use,":[46],"so":[47],"the":[49,112,146],"robot":[50],"needs":[51],"only":[56],"one":[57],"particular":[58],"environment.":[59],"This":[60],"requires":[61],"intuitive":[62],"ways":[63],"which":[65],"program":[68,103],"robot.":[70],"To":[71],"end,":[73],"this":[74],"paper":[75],"contributes":[76],"flow-based":[78],"visual":[79],"language,":[81],"called":[82],"RoboFlow,":[83],"allows":[85],"generalizable":[88],"mobile":[89,107,142,157],"manipulation":[90,158],"tasks.":[91],"RoboFlow":[92,138,153],"designed":[94],"(i)":[96],"ensure":[97],"robust":[99],"low-level":[100],"implementation":[101,136],"procedures":[104],"on":[105,139,155],"manipulator,":[108],"and":[109,131,144,148],"(ii)":[110],"restrict":[111],"high-level":[113],"as":[115,117],"much":[116],"avoid":[120],"user":[121],"errors":[122],"while":[123],"enabling":[124],"expressive":[125],"programs":[126,154],"involve":[128],"branching,":[129],"looping,":[130],"nesting.":[132],"We":[133],"present":[134],"an":[135],"PR2":[141],"manipulator":[143],"demonstrate":[145],"generalizability":[147],"error":[149],"handling":[150],"properties":[151],"everyday":[156],"environments.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":11},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2}],"updated_date":"2026-02-13T13:36:01.753593","created_date":"2025-10-10T00:00:00"}
