{"id":"https://openalex.org/W4413926257","doi":"https://doi.org/10.1109/icra55743.2025.11127991","title":"Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation","display_name":"Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413926257","doi":"https://doi.org/10.1109/icra55743.2025.11127991"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127991","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":"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":null,"display_name":"Akshaya Agrawal","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Akshaya Agrawal","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Parker Mayer","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Parker Mayer","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088789391","display_name":"Zachary Kingston","orcid":"https://orcid.org/0000-0002-3896-5110"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary Kingston","raw_affiliation_strings":["Purdue University,Department of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,Department of Computer Science","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023976625","display_name":"Geoffrey A. Hollinger","orcid":"https://orcid.org/0000-0001-6502-8950"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Geoffrey A. Hollinger","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University","institution_ids":["https://openalex.org/I131249849"]}]}],"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":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7726","last_page":"7732"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9932000041007996,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9927999973297119,"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/mobile-robot","display_name":"Mobile robot","score":0.5451993942260742},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.5404037833213806},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5303065776824951},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5300557017326355},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47361207008361816},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4615462124347687},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43142229318618774},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21768328547477722},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10877439379692078}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5451993942260742},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.5404037833213806},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5303065776824951},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5300557017326355},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47361207008361816},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4615462124347687},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43142229318618774},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21768328547477722},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10877439379692078},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127991","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4055149294","display_name":null,"funder_award_id":"N0014-21-1-2052,N00014-22-1-2114","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1989408004","https://openalex.org/W2116341587","https://openalex.org/W2134447392","https://openalex.org/W2137496616","https://openalex.org/W2142724466","https://openalex.org/W2159524963","https://openalex.org/W2163273047","https://openalex.org/W2171303908","https://openalex.org/W2310502693","https://openalex.org/W2403902171","https://openalex.org/W2593044303","https://openalex.org/W2786893837","https://openalex.org/W3083427607","https://openalex.org/W3091360778","https://openalex.org/W3137080141","https://openalex.org/W3152907726","https://openalex.org/W3180969843","https://openalex.org/W4400645581"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2154204858","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Cooperative":[0],"manipulation":[1],"tasks":[2],"impose":[3],"various":[4],"structure-,":[5],"task-,":[6],"and":[7,19,100],"robot-specific":[8],"constraints":[9,23,33,98],"on":[10,116],"mobile":[11,87],"manip-ulators.":[12],"However,":[13],"current":[14],"methods":[15],"struggle":[16],"to":[17,40,53,80,95,103],"model":[18,32],"solve":[20],"these":[21],"myriad":[22],"simultaneously.":[24],"We":[25,71,111],"propose":[26],"a":[27,35,75,104],"twofold":[28],"solution:":[29],"first,":[30],"we":[31,44],"as":[34],"family":[36],"of":[37],"manifolds":[38],"amenable":[39],"simultaneous":[41],"solving.":[42],"Second,":[43],"introduce":[45],"the":[46],"constrained":[47],"nonlinear":[48,97],"Kaczmarz":[49],"(cNKZ)":[50],"projection":[51],"technique":[52],"produce":[54],"constraint-satisfying":[55],"solutions.":[56],"Experiments":[57],"show":[58],"that":[59],"cNKZ":[60,73,92],"dramatically":[61],"outperforms":[62],"baseline":[63],"approaches,":[64],"which":[65],"cannot":[66],"find":[67],"solutions":[68],"at":[69],"all.":[70],"integrate":[72],"with":[74,91,124],"sampling-based":[76],"motion":[77],"planning":[78],"algorithm":[79],"generate":[81],"complex,":[82],"coordi-nated":[83],"motions":[84],"for":[85],"3\u20136":[86],"manipulators":[88],"(18\u201336":[89],"DoF),":[90],"solving":[93],"up":[94,102],"80":[96],"simultaneously":[99],"achieving":[101],"92%":[105],"success":[106],"rate":[107],"in":[108],"cluttered":[109],"environments.":[110],"also":[112],"demonstrate":[113],"our":[114],"approach":[115],"hardware":[117],"using":[118],"three":[119],"Thrtlebot3":[120],"Waffle":[121],"Pi":[122],"robots":[123],"OpenMANIPULATOR-X":[125],"arms.":[126]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
