{"id":"https://openalex.org/W4413918148","doi":"https://doi.org/10.1109/icra55743.2025.11127511","title":"Optimize and Coordinate Multiple DMPs Under Constraints to Achieve a Collaborative Manipulation Task","display_name":"Optimize and Coordinate Multiple DMPs Under Constraints to Achieve a Collaborative Manipulation Task","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413918148","doi":"https://doi.org/10.1109/icra55743.2025.11127511"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127511","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127511","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://orbilu.uni.lu/handle/10993/66139","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5119514656","display_name":"Ali H. Kordia","orcid":null},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":true,"raw_author_name":"Ali H. Kordia","raw_affiliation_strings":["the University of Luxembourg,SnT Centre,Luxembourg"],"affiliations":[{"raw_affiliation_string":"the University of Luxembourg,SnT Centre,Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101616573","display_name":"Francisco S. Melo","orcid":"https://orcid.org/0000-0001-5705-7372"},"institutions":[{"id":"https://openalex.org/I121345201","display_name":"Instituto de Engenharia de Sistemas e Computadores Investiga\u00e7\u00e3o e Desenvolvimento","ror":"https://ror.org/04mqy3p58","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I121345201","https://openalex.org/I4210125590"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Francisco S. Melo","raw_affiliation_strings":["INESC-ID and with Instituto Superior Tecnico, University of Lisbon,Portugal"],"affiliations":[{"raw_affiliation_string":"INESC-ID and with Instituto Superior Tecnico, University of Lisbon,Portugal","institution_ids":["https://openalex.org/I121345201"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5119514656"],"corresponding_institution_ids":["https://openalex.org/I186903577"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.34902193,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9678000211715698,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9678000211715698,"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":0.714762806892395},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6383371949195862},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.368622750043869},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.17966559529304504},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1414787769317627}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.714762806892395},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6383371949195862},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.368622750043869},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.17966559529304504},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1414787769317627}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra55743.2025.11127511","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127511","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:orbilu.uni.lu:10993/66139","is_oa":true,"landing_page_url":"https://orbilu.uni.lu/handle/10993/66139","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation, ICRA 2025 (2025-05); 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, Usa [Usa], 19-05-2025 => 23-05-2025","raw_type":"peer reviewed"}],"best_oa_location":{"id":"pmh:oai:orbilu.uni.lu:10993/66139","is_oa":true,"landing_page_url":"https://orbilu.uni.lu/handle/10993/66139","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation, ICRA 2025 (2025-05); 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, Usa [Usa], 19-05-2025 => 23-05-2025","raw_type":"peer reviewed"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2441341484","display_name":null,"funder_award_id":"UIDB/50021/2020","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"}],"funders":[{"id":"https://openalex.org/F4320310700","display_name":"Universit\u00e9 du Luxembourg","ror":"https://ror.org/036x5ad56"},{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W118129717","https://openalex.org/W1489796207","https://openalex.org/W1917426767","https://openalex.org/W2057819258","https://openalex.org/W2059577760","https://openalex.org/W2070935310","https://openalex.org/W2078763164","https://openalex.org/W2085627234","https://openalex.org/W2101677491","https://openalex.org/W2105014696","https://openalex.org/W2110304639","https://openalex.org/W2112036188","https://openalex.org/W2130990842","https://openalex.org/W2161365670","https://openalex.org/W2567946639","https://openalex.org/W2909723455","https://openalex.org/W2948957211","https://openalex.org/W3119292221"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W3196817267","https://openalex.org/W1976600725"],"abstract_inverted_index":{"This":[0,43],"paper":[1],"addresses":[2],"a":[3,12,19,50,56,79,104,120,133,153,158],"significant":[4],"challenge":[5],"in":[6,35,96,119,152,157],"achieving":[7],"collaborative":[8,41,67],"tasks;":[9],"how":[10],"can":[11,45],"robot":[13],"or":[14],"multiple":[15,26,73,94,99,113],"robots,":[16],"endowed":[17],"with":[18,55,78,98,103,141],"library":[20],"of":[21,72,93,148],"pre-learned":[22],"primitive":[23,62],"movements,":[24,30],"generate":[25],"simultaneous":[27],"coordinated":[28,91,121],"robotic":[29],"adapting":[31],"and":[32,69,85,136,156,160],"optimizing":[33],"those":[34],"the":[36,53,70,90,146],"library,":[37],"to":[38,52,88,110,115],"complete":[39],"one":[40,83,117],"task?":[42],"work":[44,54],"thus":[46],"be":[47],"seen":[48],"as":[49,59],"follow-up":[51],"motion":[57],"presented":[58],"dynamic":[60],"movement":[61],"(DMP)":[63],"that":[64],"now":[65],"considers":[66],"tasks":[68],"existence":[71],"robots/manipulators.":[74],"Specifically,":[75],"we":[76],"start":[77],"simple":[80],"task":[81,118],"using":[82],"DMP":[84],"extend":[86],"it":[87],"accommodate":[89],"execution":[92],"DMPs":[95,114,130],"robots":[97,102],"manipulators":[100],"or-alternatively-multiple":[101],"single":[105,134],"manipulator.":[106],"We":[107,144],"investigate":[108],"mechanisms":[109],"jointly":[111],"optimize":[112],"perform":[116],"fashion.":[122],"The":[123],"joint":[124],"trajectory":[125],"is":[126],"built":[127],"from":[128],"initial":[129],"learned":[131],"for":[132],"manipulator,":[135],"its":[137],"optimization":[138],"must":[139],"comply":[140],"task-specific":[142],"constraints.":[143],"illustrate":[145],"application":[147],"our":[149],"approach":[150],"both":[151],"simulated":[154,159],"environment":[155],"real":[161],"Baxter":[162],"robot.":[163]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
