{"id":"https://openalex.org/W4401414802","doi":"https://doi.org/10.1109/icra57147.2024.10611441","title":"Preprocessing-based Kinodynamic Motion Planning Framework for Intercepting Projectiles using a Robot Manipulator","display_name":"Preprocessing-based Kinodynamic Motion Planning Framework for Intercepting Projectiles using a Robot Manipulator","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414802","doi":"https://doi.org/10.1109/icra57147.2024.10611441"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611441","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611441","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/A5109675101","display_name":"Ramkumar Natarajan","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ramkumar Natarajan","raw_affiliation_strings":["Carnegie Mellon University,The Robotics Institute, School of Computer Science,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,The Robotics Institute, School of Computer Science,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102530434","display_name":"Hanlan Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hanlan Yang","raw_affiliation_strings":["Carnegie Mellon University,The Robotics Institute, School of Computer Science,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,The Robotics Institute, School of Computer Science,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114119283","display_name":"Qintong Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Qintong Xie","raw_affiliation_strings":["University of Oxford,Department of Engineering Science,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oxford,Department of Engineering Science,UK","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026166202","display_name":"Yash Oza","orcid":"https://orcid.org/0000-0003-0816-5494"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yash Oza","raw_affiliation_strings":["Carnegie Mellon University,The Robotics Institute, School of Computer Science,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,The Robotics Institute, School of Computer Science,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083729740","display_name":"Manash Pratim Das","orcid":"https://orcid.org/0000-0001-6930-3657"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Manash Pratim Das","raw_affiliation_strings":["Carnegie Mellon University,The Robotics Institute, School of Computer Science,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,The Robotics Institute, School of Computer Science,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082050962","display_name":"Fahad Islam","orcid":"https://orcid.org/0000-0001-8384-1697"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fahad Islam","raw_affiliation_strings":["Carnegie Mellon University,The Robotics Institute, School of Computer Science,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,The Robotics Institute, School of Computer Science,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034152539","display_name":"Muhammad Suhail Saleem","orcid":"https://orcid.org/0000-0002-5698-6759"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Muhammad Suhail Saleem","raw_affiliation_strings":["Carnegie Mellon University,The Robotics Institute, School of Computer Science,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,The Robotics Institute, School of Computer Science,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048906141","display_name":"Howie Choset","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Howie Choset","raw_affiliation_strings":["Carnegie Mellon University,The Robotics Institute, School of Computer Science,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,The Robotics Institute, School of Computer Science,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103257510","display_name":"Maxim Likhachev","orcid":"https://orcid.org/0000-0002-9539-2398"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maxim Likhachev","raw_affiliation_strings":["Carnegie Mellon University,The Robotics Institute, School of Computer Science,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,The Robotics Institute, School of Computer Science,USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2187,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.48827097,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"10910","last_page":"10916"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996399998664856,"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"}},{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9948999881744385,"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":0.6995295286178589},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.6289817690849304},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6287950277328491},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5611206293106079},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5418409109115601},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5242823958396912},{"id":"https://openalex.org/keywords/projectile","display_name":"Projectile","score":0.4836765229701996},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.46845149993896484},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4055646061897278},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36477094888687134},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33483922481536865},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12518897652626038},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05517253279685974}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6995295286178589},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.6289817690849304},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6287950277328491},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5611206293106079},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5418409109115601},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5242823958396912},{"id":"https://openalex.org/C49304495","wikidata":"https://www.wikidata.org/wiki/Q49393","display_name":"Projectile","level":2,"score":0.4836765229701996},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.46845149993896484},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4055646061897278},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36477094888687134},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33483922481536865},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12518897652626038},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05517253279685974},{"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/icra57147.2024.10611441","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611441","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":[{"display_name":"Sustainable cities and communities","score":0.6200000047683716,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W107583932","https://openalex.org/W2012204020","https://openalex.org/W2035601288","https://openalex.org/W2040227765","https://openalex.org/W2040663525","https://openalex.org/W2042012041","https://openalex.org/W2066347618","https://openalex.org/W2113029345","https://openalex.org/W2135287461","https://openalex.org/W2137151237","https://openalex.org/W2141664020","https://openalex.org/W2152421929","https://openalex.org/W2161076907","https://openalex.org/W2165744315","https://openalex.org/W2946783853","https://openalex.org/W2963037989","https://openalex.org/W2964057747","https://openalex.org/W3037785630","https://openalex.org/W3040086528","https://openalex.org/W3090503027","https://openalex.org/W3128381983","https://openalex.org/W3130505889","https://openalex.org/W3139334869","https://openalex.org/W4306801052","https://openalex.org/W4312440555","https://openalex.org/W4382866751","https://openalex.org/W4383109516","https://openalex.org/W4391013217","https://openalex.org/W6683620479","https://openalex.org/W6846315454","https://openalex.org/W6861160931"],"related_works":["https://openalex.org/W2391397427","https://openalex.org/W1996341361","https://openalex.org/W4392894440","https://openalex.org/W4366609476","https://openalex.org/W2078127841","https://openalex.org/W2919815400","https://openalex.org/W2156518980","https://openalex.org/W2159353126","https://openalex.org/W2093621301","https://openalex.org/W849053048"],"abstract_inverted_index":{"We":[0,138,154],"are":[1],"interested":[2],"in":[3,83,159,202],"studying":[4],"sports":[5],"with":[6,10,23,144],"robots":[7],"and":[8,56,60,77,106,151,161,189],"starting":[9],"the":[11,31,37,42,58,63,73,89,102,107,110,172],"problem":[12],"of":[13],"intercepting":[14],"a":[15,19,24,48,122,166,180,198],"projectile":[16,203],"moving":[17],"toward":[18],"robot":[20,32],"manipulator":[21],"equipped":[22],"shield.":[25],"To":[26,117],"successfully":[27,87],"perform":[28],"this":[29,118],"task,":[30],"needs":[33],"to":[34,86,97,100,132],"(i)":[35],"detect":[36],"incoming":[38],"projectile,":[39,59],"(ii)":[40],"predict":[41],"projectile\u2019s":[43],"future":[44],"motion,":[45],"(iii)":[46],"plan":[47],"minimum-time":[49],"rapid":[50],"trajectory":[51],"that":[52,127,163],"can":[53],"evade":[54],"obstacles":[55],"intercept":[57,88],"(iv)":[61],"execute":[62],"planned":[64],"trajectory.":[65],"These":[66],"four":[67],"steps":[68],"must":[69],"be":[70,98],"performed":[71],"under":[72],"manipulator\u2019s":[74],"dynamic":[75],"limits":[76],"extreme":[78],"time":[79],"constraints":[80],"(\u2264":[81],"350ms":[82],"our":[84,145,156,177],"setting)":[85],"projectile.":[90],"In":[91],"addition,":[92],"we":[93,120,175],"want":[94],"these":[95],"trajectories":[96,130],"smooth":[99,129],"reduce":[101],"robot\u2019s":[103],"joint":[104],"torques":[105],"impulse":[108],"on":[109,112,179],"platform":[111],"which":[113,196],"it":[114,164],"is":[115],"mounted.":[116],"end,":[119],"propose":[121],"kinodynamic":[123],"motion":[124],"planning":[125,146],"framework":[126,157],"preprocesses":[128],"offline":[131],"allow":[133],"real-time":[134],"collision-free":[135],"executions":[136],"online.":[137],"present":[139],"an":[140,184,190],"end-to-end":[141],"pipeline":[142,178],"along":[143],"framework,":[147],"including":[148],"perception,":[149],"prediction,":[150],"execution":[152],"modules.":[153],"evaluate":[155],"experimentally":[158],"simulation":[160],"show":[162],"has":[165],"higher":[167],"blocking":[168],"success":[169,200],"rate":[170,201],"than":[171],"baselines.":[173],"Further,":[174],"deploy":[176],"robotic":[181],"system":[182],"comprising":[183],"industrial":[185],"arm":[186],"(ABB":[187],"IRB-1600)":[188],"onboard":[191],"stereo":[192],"camera":[193],"(ZED":[194],"2i),":[195],"achieves":[197],"78%":[199],"interceptions.":[204]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}