{"id":"https://openalex.org/W2967354177","doi":"https://doi.org/10.1109/icra.2019.8793635","title":"A Generic Optimization Based Cartesian Controller for Robotic Mobile Manipulation","display_name":"A Generic Optimization Based Cartesian Controller for Robotic Mobile Manipulation","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2967354177","doi":"https://doi.org/10.1109/icra.2019.8793635","mag":"2967354177"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793635","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5052923254","display_name":"Emilia Brzozowska","orcid":null},"institutions":[{"id":"https://openalex.org/I686019","display_name":"AGH University of Krakow","ror":"https://ror.org/00bas1c41","country_code":"PL","type":"education","lineage":["https://openalex.org/I686019"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Emilia Brzozowska","raw_affiliation_strings":["Department of Automatic Control and Robotics, UST AGH, Cracow, Poland"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control and Robotics, UST AGH, Cracow, Poland","institution_ids":["https://openalex.org/I686019"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074422305","display_name":"Oscar Lima","orcid":"https://orcid.org/0000-0001-9910-6320"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oscar Lima","raw_affiliation_strings":["DFKI Robotics Innovation Center, Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"DFKI Robotics Innovation Center, Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052413681","display_name":"Rodrigo Ventura","orcid":"https://orcid.org/0000-0002-5655-9562"},"institutions":[{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":null,"type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Rodrigo Ventura","raw_affiliation_strings":["Rodrigo Ventura is with the Institute for Systems and Robotics, Instituto Superior Tecnico, Av. Rovisco Pais 1, Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"Rodrigo Ventura is with the Institute for Systems and Robotics, Instituto Superior Tecnico, Av. Rovisco Pais 1, Lisbon, Portugal","institution_ids":["https://openalex.org/I4387152517"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5052923254"],"corresponding_institution_ids":["https://openalex.org/I686019"],"apc_list":null,"apc_paid":null,"fwci":0.6073,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.7222382,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2054","last_page":"2060"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991999864578247,"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/controller","display_name":"Controller (irrigation)","score":0.6681384444236755},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6551509499549866},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5845162272453308},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5825569033622742},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5191035270690918},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5186330676078796},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47296494245529175},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4698839485645294},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.45797866582870483},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35089001059532166},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3448098301887512},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3220396041870117},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17564189434051514},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15569403767585754},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09081593155860901}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6681384444236755},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6551509499549866},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5845162272453308},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5825569033622742},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5191035270690918},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5186330676078796},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47296494245529175},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4698839485645294},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.45797866582870483},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35089001059532166},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3448098301887512},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3220396041870117},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17564189434051514},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15569403767585754},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09081593155860901},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8793635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793635","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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":10,"referenced_works":["https://openalex.org/W70651934","https://openalex.org/W1502517891","https://openalex.org/W1972447158","https://openalex.org/W2005775757","https://openalex.org/W2014014888","https://openalex.org/W2082991751","https://openalex.org/W2110762409","https://openalex.org/W2159901825","https://openalex.org/W2324248469","https://openalex.org/W2552885458"],"related_works":["https://openalex.org/W1515399142","https://openalex.org/W129737916","https://openalex.org/W4226385867","https://openalex.org/W2966461000","https://openalex.org/W4223569781","https://openalex.org/W841410736","https://openalex.org/W2167648512","https://openalex.org/W2612781909","https://openalex.org/W2065660108","https://openalex.org/W3004667746"],"abstract_inverted_index":{"Typically,":[0],"the":[1,21,29,41,49,74,77,97,114,163,171],"problem":[2,52,115],"of":[3,73,127,184],"robotic":[4,87],"manipulation":[5,51],"is":[6,24,31,110,123,173],"divided":[7],"among":[8],"two":[9],"sequential":[10],"phases:":[11],"a":[12,54,63,70,86,93,124,143,152,181],"planning":[13],"one":[14,23],"and":[15,92,129,141,160],"an":[16,90],"execution":[17],"one.":[18],"However,":[19,96],"since":[20],"second":[22],"executed":[25],"in":[26,35,40,100],"open":[27],"loop,":[28],"robot":[30,155],"unable":[32],"to":[33,38,85,104,116,175],"react":[34],"real":[36,144],"time":[37],"changes":[39],"task":[42],"(e.g.":[43],"moving":[44],"object).":[45],"This":[46],"paper":[47],"addresses":[48],"mobile":[50,94,153],"from":[53],"real-time,":[55],"closed":[56],"loop":[57],"perspective.":[58],"In":[59],"particular,":[60],"we":[61],"propose":[62],"generic":[64],"optimization-based":[65],"Cartesian":[66],"controller,":[67],"that":[68,170],"given":[69],"continuous":[71],"monitoring":[72],"goal,":[75],"determines":[76],"best":[78],"motion":[79],"commands.":[80],"We":[81],"target":[82],"our":[83],"controller":[84,172],"system":[88],"comprising":[89],"arm":[91,178],"platform.":[95],"approach":[98,109,134],"can":[99],"principle":[101],"be":[102],"extended":[103],"more":[105],"complex":[106],"mechanisms.":[107],"The":[108],"based":[111],"on":[112,139,142,162],"shifting":[113],"velocity":[117,122],"space,":[118],"where":[119],"end":[120],"effector":[121],"linear":[125],"function":[126],"joint":[128],"base":[130],"platform":[131],"velocities.":[132],"Our":[133,167],"was":[135,148],"quantitatively":[136],"evaluated":[137,161],"both":[138],"simulation":[140],"service":[145,154],"robot.":[146],"It":[147],"also":[149],"integrated":[150],"into":[151],"architecture":[156],"targeting":[157],"domestic":[158],"tasks":[159],"RoboCup@Home":[164],"scientific":[165],"competition.":[166],"results":[168],"show":[169],"able":[174],"reach":[176],"random":[177],"configurations":[179],"with":[180],"high":[182],"probability":[183],"success.":[185]},"counts_by_year":[{"year":2024,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}