{"id":"https://openalex.org/W4285102213","doi":"https://doi.org/10.1109/icra46639.2022.9811848","title":"Persistent Homology for Effective Non-Prehensile Manipulation","display_name":"Persistent Homology for Effective Non-Prehensile Manipulation","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102213","doi":"https://doi.org/10.1109/icra46639.2022.9811848"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811848","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811848","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5000523840","display_name":"Ewerton R. Vieira","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]},{"id":"https://openalex.org/I2799411422","display_name":"Center for Discrete Mathematics and Theoretical Computer Science","ror":"https://ror.org/00k551w06","country_code":"US","type":"facility","lineage":["https://openalex.org/I102322142","https://openalex.org/I118347220","https://openalex.org/I1283103587","https://openalex.org/I1311060795","https://openalex.org/I20089843","https://openalex.org/I2799411422","https://openalex.org/I4210107353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ewerton R. Vieira","raw_affiliation_strings":["Rutgers University,Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science),NJ,USA","Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science), Rutgers University, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science),NJ,USA","institution_ids":["https://openalex.org/I2799411422"]},{"raw_affiliation_string":"Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science), Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I2799411422","https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050446535","display_name":"Daniel Nakhimovich","orcid":"https://orcid.org/0009-0005-2618-7656"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]},{"id":"https://openalex.org/I2799411422","display_name":"Center for Discrete Mathematics and Theoretical Computer Science","ror":"https://ror.org/00k551w06","country_code":"US","type":"facility","lineage":["https://openalex.org/I102322142","https://openalex.org/I118347220","https://openalex.org/I1283103587","https://openalex.org/I1311060795","https://openalex.org/I20089843","https://openalex.org/I2799411422","https://openalex.org/I4210107353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Nakhimovich","raw_affiliation_strings":["Rutgers University,Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science),NJ,USA","Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science), Rutgers University, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science),NJ,USA","institution_ids":["https://openalex.org/I2799411422"]},{"raw_affiliation_string":"Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science), Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I2799411422","https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102809497","display_name":"Kai Gao","orcid":"https://orcid.org/0000-0003-4297-2978"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]},{"id":"https://openalex.org/I2799411422","display_name":"Center for Discrete Mathematics and Theoretical Computer Science","ror":"https://ror.org/00k551w06","country_code":"US","type":"facility","lineage":["https://openalex.org/I102322142","https://openalex.org/I118347220","https://openalex.org/I1283103587","https://openalex.org/I1311060795","https://openalex.org/I20089843","https://openalex.org/I2799411422","https://openalex.org/I4210107353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kai Gao","raw_affiliation_strings":["Rutgers University,Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science),NJ,USA","Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science), Rutgers University, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science),NJ,USA","institution_ids":["https://openalex.org/I2799411422"]},{"raw_affiliation_string":"Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science), Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I2799411422","https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028153158","display_name":"Rui Wang","orcid":"https://orcid.org/0000-0002-7402-6372"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]},{"id":"https://openalex.org/I2799411422","display_name":"Center for Discrete Mathematics and Theoretical Computer Science","ror":"https://ror.org/00k551w06","country_code":"US","type":"facility","lineage":["https://openalex.org/I102322142","https://openalex.org/I118347220","https://openalex.org/I1283103587","https://openalex.org/I1311060795","https://openalex.org/I20089843","https://openalex.org/I2799411422","https://openalex.org/I4210107353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rui Wang","raw_affiliation_strings":["Rutgers University,Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science),NJ,USA","Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science), Rutgers University, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science),NJ,USA","institution_ids":["https://openalex.org/I2799411422"]},{"raw_affiliation_string":"Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science), Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I2799411422","https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048925474","display_name":"Jingjin Yu","orcid":"https://orcid.org/0000-0002-7594-7798"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]},{"id":"https://openalex.org/I2799411422","display_name":"Center for Discrete Mathematics and Theoretical Computer Science","ror":"https://ror.org/00k551w06","country_code":"US","type":"facility","lineage":["https://openalex.org/I102322142","https://openalex.org/I118347220","https://openalex.org/I1283103587","https://openalex.org/I1311060795","https://openalex.org/I20089843","https://openalex.org/I2799411422","https://openalex.org/I4210107353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingjin Yu","raw_affiliation_strings":["Rutgers University,Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science),NJ,USA","Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science), Rutgers University, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science),NJ,USA","institution_ids":["https://openalex.org/I2799411422"]},{"raw_affiliation_string":"Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science), Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I2799411422","https://openalex.org/I102322142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]},{"id":"https://openalex.org/I2799411422","display_name":"Center for Discrete Mathematics and Theoretical Computer Science","ror":"https://ror.org/00k551w06","country_code":"US","type":"facility","lineage":["https://openalex.org/I102322142","https://openalex.org/I118347220","https://openalex.org/I1283103587","https://openalex.org/I1311060795","https://openalex.org/I20089843","https://openalex.org/I2799411422","https://openalex.org/I4210107353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas E. Bekris","raw_affiliation_strings":["Rutgers University,Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science),NJ,USA","Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science), Rutgers University, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science),NJ,USA","institution_ids":["https://openalex.org/I2799411422"]},{"raw_affiliation_string":"Department of Computer Science and DIMACS (the Center for Discrete Mathematics and Theoretical Computer Science), Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I2799411422","https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1918","last_page":"1924"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12536","display_name":"Topological and Geometric Data Analysis","score":0.9939000010490417,"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/T12536","display_name":"Topological and Geometric Data Analysis","score":0.9939000010490417,"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":0.9904999732971191,"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/T12859","display_name":"Cell Image Analysis Techniques","score":0.9488000273704529,"subfield":{"id":"https://openalex.org/subfields/1304","display_name":"Biophysics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/prehensile-tail","display_name":"Prehensile tail","score":0.8936110734939575},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8335955739021301},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.636911928653717},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5965070724487305},{"id":"https://openalex.org/keywords/persistent-homology","display_name":"Persistent homology","score":0.49510493874549866},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4754364490509033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43126043677330017},{"id":"https://openalex.org/keywords/homology","display_name":"Homology (biology)","score":0.4253471791744232},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4213983416557312},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3319205641746521},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19507169723510742},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.18747255206108093},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07813888788223267}],"concepts":[{"id":"https://openalex.org/C136380597","wikidata":"https://www.wikidata.org/wiki/Q10508905","display_name":"Prehensile tail","level":2,"score":0.8936110734939575},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8335955739021301},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.636911928653717},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5965070724487305},{"id":"https://openalex.org/C2874115","wikidata":"https://www.wikidata.org/wiki/Q17099562","display_name":"Persistent homology","level":2,"score":0.49510493874549866},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4754364490509033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43126043677330017},{"id":"https://openalex.org/C165525559","wikidata":"https://www.wikidata.org/wiki/Q224180","display_name":"Homology (biology)","level":3,"score":0.4253471791744232},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4213983416557312},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3319205641746521},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19507169723510742},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18747255206108093},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07813888788223267},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811848","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811848","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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":50,"referenced_works":["https://openalex.org/W578323415","https://openalex.org/W1608892862","https://openalex.org/W1630678085","https://openalex.org/W1837811515","https://openalex.org/W2005775757","https://openalex.org/W2037034267","https://openalex.org/W2087191078","https://openalex.org/W2101993361","https://openalex.org/W2109447584","https://openalex.org/W2110762409","https://openalex.org/W2114306020","https://openalex.org/W2134447392","https://openalex.org/W2167340365","https://openalex.org/W2171266831","https://openalex.org/W2791516632","https://openalex.org/W2883221329","https://openalex.org/W2892377642","https://openalex.org/W2909385936","https://openalex.org/W2962872943","https://openalex.org/W2967100581","https://openalex.org/W2967171277","https://openalex.org/W2968156685","https://openalex.org/W2972461995","https://openalex.org/W2997371877","https://openalex.org/W3003793997","https://openalex.org/W3012008866","https://openalex.org/W3043649182","https://openalex.org/W3091256784","https://openalex.org/W3100738175","https://openalex.org/W3105267091","https://openalex.org/W3133137374","https://openalex.org/W3137080141","https://openalex.org/W3205159809","https://openalex.org/W3205918749","https://openalex.org/W3206144464","https://openalex.org/W4211049189","https://openalex.org/W4234555707","https://openalex.org/W4288286204","https://openalex.org/W6636808768","https://openalex.org/W6651760904","https://openalex.org/W6672137928","https://openalex.org/W6679764187","https://openalex.org/W6758210217","https://openalex.org/W6759870248","https://openalex.org/W6763073432","https://openalex.org/W6766185457","https://openalex.org/W6784305363","https://openalex.org/W6785337696","https://openalex.org/W6791550374","https://openalex.org/W6840672779"],"related_works":["https://openalex.org/W2958601279","https://openalex.org/W2102692026","https://openalex.org/W4360887047","https://openalex.org/W3162517897","https://openalex.org/W2770791287","https://openalex.org/W3143913977","https://openalex.org/W4206186921","https://openalex.org/W4386755584","https://openalex.org/W4289362969","https://openalex.org/W2745914844"],"abstract_inverted_index":{"This":[0],"work":[1],"explores":[2],"the":[3,21,32,52,61,71,74,100,109,121,126,146,152,162],"use":[4,22],"of":[5,23,54,64,67,81,92,102,120,154],"topological":[6],"tools":[7],"for":[8,76,169],"achieving":[9,131],"effective":[10],"non-prehensile":[11,34],"manipulation":[12],"in":[13,30,70,113,136],"cluttered,":[14],"constrained":[15,139],"workspaces.":[16],"In":[17],"particular,":[18],"it":[19],"proposes":[20],"persistent":[24],"homology":[25,59],"as":[26,37,49],"a":[27,41,45,55,114,118],"guiding":[28],"principle":[29],"identifying":[31],"appropriate":[33],"actions,":[35],"such":[36,138,172],"pushing,":[38],"to":[39,50,89,98,106,108,142,150],"clean":[40],"cluttered":[42],"space":[43,72],"with":[44],"robotic":[46],"arm":[47],"so":[48],"allow":[51],"retrieval":[53],"target":[56],"object.":[57],"Persistent":[58],"enables":[60],"automatic":[62],"identification":[63],"connected":[65],"components":[66],"blocking":[68],"objects":[69,94],"without":[73],"need":[75],"manual":[77],"input":[78],"or":[79],"tuning":[80],"parameters.":[82],"The":[83],"proposed":[84,127],"algorithm":[85],"uses":[86],"this":[87],"information":[88],"push":[90],"groups":[91],"cylindrical":[93],"together":[95],"and":[96,161,165],"aims":[97],"minimize":[99],"number":[101,153],"pushing":[103,155],"actions":[104,156],"needed":[105],"reach":[107],"target.":[110],"Simulated":[111],"experiments":[112],"physics":[115],"engine":[116],"using":[117],"model":[119],"Baxter":[122],"robot":[123],"show":[124],"that":[125],"topology-driven":[128],"solution":[129],"is":[130,158],"significantly":[132],"higher":[133],"success":[134],"rate":[135],"solving":[137,171],"problems":[140],"relatively":[141],"state-of-the-art":[143],"alternatives":[144],"from":[145],"literature.":[147],"It":[148],"manages":[149],"keep":[151],"low,":[157],"computationally":[159],"efficient":[160],"resulting":[163],"decisions":[164],"motion":[166],"appear":[167],"natural":[168],"effectively":[170],"tasks.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}