{"id":"https://openalex.org/W4401414279","doi":"https://doi.org/10.1109/icra57147.2024.10611389","title":"R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators","display_name":"R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414279","doi":"https://doi.org/10.1109/icra57147.2024.10611389"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611389","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/A5073253853","display_name":"Kim Tien Ly","orcid":"https://orcid.org/0000-0002-4967-4220"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kim Tien Ly","raw_affiliation_strings":["University of Oxford.,Dynamic Robot Systems (DRS) Group, Oxford Robotics Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford.,Dynamic Robot Systems (DRS) Group, Oxford Robotics Institute","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112604261","display_name":"Valeriy Semenov","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Valeriy Semenov","raw_affiliation_strings":["University of Oxford.,Dynamic Robot Systems (DRS) Group, Oxford Robotics Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford.,Dynamic Robot Systems (DRS) Group, Oxford Robotics Institute","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031492616","display_name":"Mattia Risiglione","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mattia Risiglione","raw_affiliation_strings":["Istituto Italiano di Tecnologia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036958906","display_name":"Wolfgang Merkt","orcid":"https://orcid.org/0000-0003-3235-4906"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wolfgang Merkt","raw_affiliation_strings":["University of Oxford.,Dynamic Robot Systems (DRS) Group, Oxford Robotics Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford.,Dynamic Robot Systems (DRS) Group, Oxford Robotics Institute","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068877998","display_name":"Ioannis Havoutis","orcid":"https://orcid.org/0000-0002-4371-4623"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ioannis Havoutis","raw_affiliation_strings":["University of Oxford.,Dynamic Robot Systems (DRS) Group, Oxford Robotics Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford.,Dynamic Robot Systems (DRS) Group, Oxford Robotics Institute","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0936,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.78431014,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"14917","last_page":"14923"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":0.9986000061035156,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9951000213623047,"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/reachability","display_name":"Reachability","score":0.9268313646316528},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7715857625007629},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6470203995704651},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6133197546005249},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5269699096679688},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.49579986929893494},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35923153162002563},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34185174107551575},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3197498023509979},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2832161486148834},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2320210039615631},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13156291842460632},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.0733424723148346}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.9268313646316528},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7715857625007629},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6470203995704651},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6133197546005249},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5269699096679688},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.49579986929893494},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35923153162002563},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34185174107551575},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3197498023509979},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2832161486148834},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2320210039615631},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13156291842460632},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0733424723148346}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611389","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/13","display_name":"Climate action","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W160670953","https://openalex.org/W2015149365","https://openalex.org/W2044995998","https://openalex.org/W2141841102","https://openalex.org/W2159722616","https://openalex.org/W2292954498","https://openalex.org/W2337392266","https://openalex.org/W2468062401","https://openalex.org/W2739341730","https://openalex.org/W2794922736","https://openalex.org/W2891037229","https://openalex.org/W2967756749","https://openalex.org/W3001865277","https://openalex.org/W3003893468","https://openalex.org/W3011316078","https://openalex.org/W3105161877","https://openalex.org/W3128894241","https://openalex.org/W3193835830","https://openalex.org/W3195683250","https://openalex.org/W3202678378","https://openalex.org/W4293769215","https://openalex.org/W4300568640","https://openalex.org/W4383066238","https://openalex.org/W4385858056","https://openalex.org/W4387123640","https://openalex.org/W6606470495","https://openalex.org/W6627195111","https://openalex.org/W6713184877"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966","https://openalex.org/W2772294324","https://openalex.org/W4253760428"],"abstract_inverted_index":{"This":[0,95],"paper":[1],"presents":[2],"an":[3],"optimization-based":[4],"solution":[5],"to":[6,41,55,69,87,125],"task":[7],"and":[8,32,47,131,151,165],"motion":[9],"planning":[10,147],"(TAMP)":[11],"on":[12,74,142,159,168],"mobile":[13,45,76,172],"manipulators.":[14,77],"Logic-geometric":[15],"programming":[16],"(LGP)":[17],"has":[18],"shown":[19],"promising":[20],"capabilities":[21],"for":[22],"optimally":[23],"dealing":[24],"with":[25,64,91],"hybrid":[26],"TAMP":[27,73],"problems":[28],"that":[29],"involve":[30],"abstract":[31],"geometric":[33,93],"constraints.":[34,94],"However,":[35],"LGP":[36,63],"does":[37],"not":[38],"scale":[39],"well":[40],"high-dimensional":[42],"systems":[43],"(e.g.":[44],"manipulators)":[46],"can":[48,82],"suffer":[49],"from":[50],"obstacle":[51],"avoidance":[52],"issues":[53],"due":[54],"local":[56],"minima.":[57],"In":[58],"this":[59],"work,":[60],"we":[61],"extend":[62],"a":[65,169],"sampling-based":[66],"reachability":[67,80],"graph":[68,81],"enable":[70],"solving":[71],"optimal":[72,130],"high-DoF":[75],"The":[78],"proposed":[79],"incorporate":[83],"environmental":[84],"information":[85],"(obstacles)":[86],"provide":[88],"the":[89,105,116,136,140,160,180],"planner":[90],"sufficient":[92],"reachability-aware":[96],"heuristic":[97],"efficiently":[98],"prunes":[99],"infeasible":[100],"sequences":[101],"of":[102,139,144,153,171,175,179],"actions":[103],"in":[104,128],"continuous":[106],"domain,":[107],"hence,":[108],"it":[109],"reduces":[110],"replanning":[111],"by":[112],"securing":[113],"feasibility":[114],"at":[115],"final":[117],"full":[118],"path":[119,149],"trajectory":[120],"optimization.":[121],"Our":[122],"framework":[123,158],"proves":[124],"be":[126],"time-efficient":[127],"computing":[129],"collision-free":[132],"solutions,":[133],"while":[134],"outperforming":[135],"current":[137],"state":[138],"art":[141],"metrics":[143],"success":[145],"rate,":[146],"time,":[148],"length":[150],"number":[152],"steps.":[154],"We":[155],"validate":[156],"our":[157],"physical":[161],"Toyota":[162],"HSR":[163],"robot":[164],"report":[166],"comparisons":[167],"series":[170],"manipulation":[173],"tasks":[174],"increasing":[176],"difficulty.":[177],"Videos":[178],"experiments":[181],"are":[182],"available":[183],"here.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}