{"id":"https://openalex.org/W4413925924","doi":"https://doi.org/10.1109/icra55743.2025.11128477","title":"Online Trajectory Replanner for Dynamically Grasping Irregular Objects","display_name":"Online Trajectory Replanner for Dynamically Grasping Irregular Objects","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925924","doi":"https://doi.org/10.1109/icra55743.2025.11128477"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128477","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056525701","display_name":"Minh Nhat Vu","orcid":"https://orcid.org/0000-0003-0692-8830"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Minh Nhat Vu","raw_affiliation_strings":["Automation & Control Institute (ACIN), TU Wien"],"affiliations":[{"raw_affiliation_string":"Automation & Control Institute (ACIN), TU Wien","institution_ids":["https://openalex.org/I4210157642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116094759","display_name":"Florian Grander","orcid":null},"institutions":[{"id":"https://openalex.org/I863982854","display_name":"Egis (France)","ror":"https://ror.org/02t1k2015","country_code":"FR","type":"company","lineage":["https://openalex.org/I863982854"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Florian Grander","raw_affiliation_strings":["Egger GmbH"],"affiliations":[{"raw_affiliation_string":"Egger GmbH","institution_ids":["https://openalex.org/I863982854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089006585","display_name":"Anh Nguyen","orcid":"https://orcid.org/0000-0002-1449-211X"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Anh Nguyen","raw_affiliation_strings":["University of Liverpool,Department of Computer Science"],"affiliations":[{"raw_affiliation_string":"University of Liverpool,Department of Computer Science","institution_ids":["https://openalex.org/I146655781"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021859300","display_name":"Christoph Unger","orcid":"https://orcid.org/0000-0002-3187-8719"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Unger","raw_affiliation_strings":["Automation & Control Institute (ACIN), TU Wien"],"affiliations":[{"raw_affiliation_string":"Automation & Control Institute (ACIN), TU Wien","institution_ids":["https://openalex.org/I4210157642"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5056525701"],"corresponding_institution_ids":["https://openalex.org/I4210157642"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3507706,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7975","last_page":"7981"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9894999861717224,"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":0.9894999861717224,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9861999750137329,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9753999710083008,"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/trajectory","display_name":"Trajectory","score":0.7680017948150635},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7110595703125},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5052431225776672},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.41878512501716614},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4016534388065338},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06091228127479553}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7680017948150635},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7110595703125},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5052431225776672},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.41878512501716614},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4016534388065338},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06091228127479553},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128477","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1991008781","https://openalex.org/W2033624514","https://openalex.org/W2123871098","https://openalex.org/W2141664020","https://openalex.org/W2142224528","https://openalex.org/W2161819990","https://openalex.org/W2162218551","https://openalex.org/W2564383266","https://openalex.org/W2584986912","https://openalex.org/W2994607400","https://openalex.org/W3015470607","https://openalex.org/W3127454018","https://openalex.org/W3154835360","https://openalex.org/W3156470590","https://openalex.org/W3206166078","https://openalex.org/W4237688380","https://openalex.org/W4283726293","https://openalex.org/W4312760748","https://openalex.org/W4327545837","https://openalex.org/W4383109321","https://openalex.org/W4401416456","https://openalex.org/W4402702930"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"This":[0,109],"paper":[1],"presents":[2],"a":[3,26,48,58,71,89],"new":[4],"trajectory":[5,49,96,130,161],"replanner":[6],"for":[7,70,122,133],"grasping":[8,13,39],"irregular":[9,31,44],"objects.":[10],"Unlike":[11],"conventional":[12],"tasks":[14],"where":[15],"the":[16,30,38,79,83,117,135,138,144,148,157],"object's":[17],"geometry":[18],"is":[19,98],"assumed":[20],"simple,":[21],"we":[22,46],"aim":[23],"to":[24,81,88,100,111,142],"achieve":[25],"\u201cdynamic":[27],"grasp\u201d":[28],"of":[29,62,78,159],"objects,":[32,45],"which":[33],"requires":[34],"continuous":[35],"adjustment":[36],"during":[37],"process.":[40],"To":[41,120],"effectively":[42,155],"handle":[43],"propose":[47],"optimization":[50,97],"framework":[51,163],"that":[52],"comprises":[53],"two":[54],"phases.":[55],"Firstly,":[56],"in":[57,104,164],"specified":[59],"time":[60],"limit":[61],"10":[63],"s,":[64],"initial":[65,76],"offline":[66],"trajectories":[67,103,146],"are":[68,140],"computed":[69],"seamless":[72],"motion":[73],"from":[74,116,147],"an":[75],"configuration":[77],"robot":[80,102,136],"grasp":[82],"object":[84],"and":[85,126,137,167],"deliver":[86],"it":[87],"predefined":[90],"target":[91],"location.":[92],"Secondly,":[93],"fast":[94],"online":[95],"implemented":[99,141],"update":[101],"real-time":[105],"within":[106],"100":[107],"ms.":[108],"helps":[110],"mitigate":[112],"pose":[113],"estimation":[114],"errors":[115],"vision":[118],"system.":[119],"account":[121],"model":[123],"inaccuracies,":[124],"disturbances,":[125],"other":[127],"non-modeled":[128],"effects,":[129],"tracking":[131],"controllers":[132],"both":[134,165],"gripper":[139],"execute":[143],"optimal":[145],"proposed":[149],"framework.":[150],"The":[151],"intensive":[152],"experimental":[153],"results":[154],"demonstrate":[156],"performance":[158],"our":[160],"planning":[162],"simulation":[166],"real-world":[168],"scenarios.":[169]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}