{"id":"https://openalex.org/W4401416497","doi":"https://doi.org/10.1109/icra57147.2024.10610753","title":"Coupled Active Perception and Manipulation Planning for a Mobile Manipulator in Precision Agriculture Applications","display_name":"Coupled Active Perception and Manipulation Planning for a Mobile Manipulator in Precision Agriculture Applications","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416497","doi":"https://doi.org/10.1109/icra57147.2024.10610753"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610753","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5089591320","display_name":"Shuangyu Xie","orcid":"https://orcid.org/0000-0002-6094-3874"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shuangyu Xie","raw_affiliation_strings":["Texas A&M University,Department of Computer Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University,Department of Computer Science and Engineering","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066548429","display_name":"Chengsong Hu","orcid":"https://orcid.org/0000-0003-4220-8566"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chengsong Hu","raw_affiliation_strings":["Texas A&M University,Department of Soil and Crop Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University,Department of Soil and Crop Sciences","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100401484","display_name":"Di Wang","orcid":"https://orcid.org/0009-0001-4027-1134"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Di Wang","raw_affiliation_strings":["Texas A&M University,Department of Computer Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University,Department of Computer Science and Engineering","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084455383","display_name":"Joe Johnson","orcid":"https://orcid.org/0000-0002-9135-6285"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joe Johnson","raw_affiliation_strings":["Texas A&M University,Department of Soil and Crop Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University,Department of Soil and Crop Sciences","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030804351","display_name":"Muthukumar Bagavathiannan","orcid":"https://orcid.org/0000-0002-1107-7148"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Muthukumar Bagavathiannan","raw_affiliation_strings":["Texas A&M University,Department of Soil and Crop Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University,Department of Soil and Crop Sciences","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054819263","display_name":"Dezhen Song","orcid":"https://orcid.org/0000-0002-2944-5754"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dezhen Song","raw_affiliation_strings":["Texas A&M University,Department of Computer Science and Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&M University,Department of Computer Science and Engineering","institution_ids":["https://openalex.org/I91045830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I91045830"],"apc_list":null,"apc_paid":null,"fwci":1.5234,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.85232285,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"12665","last_page":"12671"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9843000173568726,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9836999773979187,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.6224176287651062},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6010887622833252},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5513649582862854},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5028454661369324},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5001611709594727},{"id":"https://openalex.org/keywords/precision-agriculture","display_name":"Precision agriculture","score":0.4671703279018402},{"id":"https://openalex.org/keywords/agriculture","display_name":"Agriculture","score":0.4422377347946167},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.37316036224365234},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3503618836402893},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2679155468940735},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18134981393814087},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.05639025568962097}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6224176287651062},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6010887622833252},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5513649582862854},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5028454661369324},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5001611709594727},{"id":"https://openalex.org/C120217122","wikidata":"https://www.wikidata.org/wiki/Q740083","display_name":"Precision agriculture","level":3,"score":0.4671703279018402},{"id":"https://openalex.org/C118518473","wikidata":"https://www.wikidata.org/wiki/Q11451","display_name":"Agriculture","level":2,"score":0.4422377347946167},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.37316036224365234},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3503618836402893},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2679155468940735},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18134981393814087},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.05639025568962097},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610753","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2031060683","https://openalex.org/W2034150159","https://openalex.org/W2101902009","https://openalex.org/W2170514420","https://openalex.org/W2299529128","https://openalex.org/W2563497056","https://openalex.org/W2962824291","https://openalex.org/W2968183100","https://openalex.org/W3015624198","https://openalex.org/W3089355520","https://openalex.org/W3107698295","https://openalex.org/W3138392552","https://openalex.org/W3159434032","https://openalex.org/W3169211332","https://openalex.org/W3175317224","https://openalex.org/W3184602069","https://openalex.org/W3200568502","https://openalex.org/W3207946785","https://openalex.org/W3215839891","https://openalex.org/W4205513365","https://openalex.org/W4229009823","https://openalex.org/W4231002530","https://openalex.org/W4243970992","https://openalex.org/W4249898853","https://openalex.org/W4285102202","https://openalex.org/W4285613146","https://openalex.org/W6903373631"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W4234825356","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2695075568","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W4361186078","https://openalex.org/W2150982344"],"abstract_inverted_index":{"A":[0],"mobile":[1],"manipulator":[2],"often":[3],"finds":[4],"itself":[5],"in":[6,37,65,103],"an":[7,80],"application":[8],"where":[9],"it":[10,102],"needs":[11],"to":[12,78,122],"take":[13],"a":[14,19,25,43,117,123,130],"close-up":[15],"view":[16],"before":[17],"performing":[18],"manipulation":[20,30,57],"task.":[21,94,137],"Named":[22],"this":[23],"as":[24],"coupled":[26],"active":[27],"perception":[28,39,55],"and":[29,41,56,100,106],"(CAPM)":[31],"problem,":[32],"we":[33],"model":[34],"the":[35,38,90,93,98,136],"uncertainty":[36],"process":[40],"devise":[42],"key":[44,67],"state/task":[45],"planning":[46,69],"algorithm":[47,75,99,115],"that":[48,113],"considers":[49],"reachability":[50],"conditions":[51],"jointly":[52],"established":[53],"from":[54],"task":[58,72],"constraints.":[59],"By":[60],"minimizing":[61],"expected":[62],"energy":[63,119],"usage":[64],"body":[66,85],"state":[68],"while":[70,88,127],"satisfying":[71],"constraints,":[73],"our":[74,114],"is":[76],"able":[77],"find":[79],"energy-efficient":[81],"trajectory":[82],"with":[83],"less":[84],"repositioning":[86],"motion":[87],"ensuring":[89],"success":[91,131],"of":[92,133],"We":[95],"have":[96,111],"implemented":[97],"tested":[101],"both":[104],"simulation":[105],"physical":[107],"experiments.":[108],"The":[109],"results":[110],"confirmed":[112],"has":[116],"lower":[118],"consumption":[120],"compared":[121],"two-stage":[124],"decoupled":[125],"approach,":[126],"still":[128],"maintaining":[129],"rate":[132],"100%":[134],"for":[135]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}