{"id":"https://openalex.org/W4310971544","doi":"https://doi.org/10.1109/iecon49645.2022.9968633","title":"A Pragmatic Framework for Mobile Redundant Manipulator Performing Sequential Tasks","display_name":"A Pragmatic Framework for Mobile Redundant Manipulator Performing Sequential Tasks","publication_year":2022,"publication_date":"2022-10-17","ids":{"openalex":"https://openalex.org/W4310971544","doi":"https://doi.org/10.1109/iecon49645.2022.9968633"},"language":"en","primary_location":{"id":"doi:10.1109/iecon49645.2022.9968633","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon49645.2022.9968633","pdf_url":null,"source":{"id":"https://openalex.org/S4363607717","display_name":"IECON 2022 \u2013 48th Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2022 \u2013 48th Annual Conference of the IEEE Industrial Electronics Society","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/A5102073258","display_name":"Olivier Raymond","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134562","display_name":"HESAM Universit\u00e9","ror":"https://ror.org/042949r55","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210134562"]},{"id":"https://openalex.org/I4210151275","display_name":"Laboratoire d\u2019Ing\u00e9nierie des Syst\u00e8mes Physiques et Num\u00e9riques","ror":"https://ror.org/055449294","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I190861549","https://openalex.org/I4210134562","https://openalex.org/I4210151275"]},{"id":"https://openalex.org/I190861549","display_name":"\u00c9cole nationale sup\u00e9rieure d'arts et m\u00e9tiers","ror":"https://ror.org/018pp1107","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I190861549","https://openalex.org/I4210134562"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Olivier Raymond","raw_affiliation_strings":["LISPEN and SAFRAN,Arts et Metiers Institute of Technology,Niort,France"],"affiliations":[{"raw_affiliation_string":"LISPEN and SAFRAN,Arts et Metiers Institute of Technology,Niort,France","institution_ids":["https://openalex.org/I4210134562","https://openalex.org/I4210151275","https://openalex.org/I190861549"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028184163","display_name":"Adel Olabi","orcid":"https://orcid.org/0000-0003-4425-6131"},"institutions":[{"id":"https://openalex.org/I190861549","display_name":"\u00c9cole nationale sup\u00e9rieure d'arts et m\u00e9tiers","ror":"https://ror.org/018pp1107","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I190861549","https://openalex.org/I4210134562"]},{"id":"https://openalex.org/I4210134562","display_name":"HESAM Universit\u00e9","ror":"https://ror.org/042949r55","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210134562"]},{"id":"https://openalex.org/I4210151275","display_name":"Laboratoire d\u2019Ing\u00e9nierie des Syst\u00e8mes Physiques et Num\u00e9riques","ror":"https://ror.org/055449294","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I190861549","https://openalex.org/I4210134562","https://openalex.org/I4210151275"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Adel Olabi","raw_affiliation_strings":["LISPEN,Arts et Metiers Institute of Technology,Lille,France"],"affiliations":[{"raw_affiliation_string":"LISPEN,Arts et Metiers Institute of Technology,Lille,France","institution_ids":["https://openalex.org/I4210134562","https://openalex.org/I4210151275","https://openalex.org/I190861549"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071725414","display_name":"Richard B\u00e9ar\u00e9e","orcid":"https://orcid.org/0000-0002-6186-0755"},"institutions":[{"id":"https://openalex.org/I4210151275","display_name":"Laboratoire d\u2019Ing\u00e9nierie des Syst\u00e8mes Physiques et Num\u00e9riques","ror":"https://ror.org/055449294","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I190861549","https://openalex.org/I4210134562","https://openalex.org/I4210151275"]},{"id":"https://openalex.org/I190861549","display_name":"\u00c9cole nationale sup\u00e9rieure d'arts et m\u00e9tiers","ror":"https://ror.org/018pp1107","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I190861549","https://openalex.org/I4210134562"]},{"id":"https://openalex.org/I4210134562","display_name":"HESAM Universit\u00e9","ror":"https://ror.org/042949r55","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210134562"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Richard Bearee","raw_affiliation_strings":["LISPEN,Arts et Metiers Institute of Technology,Lille,France"],"affiliations":[{"raw_affiliation_string":"LISPEN,Arts et Metiers Institute of Technology,Lille,France","institution_ids":["https://openalex.org/I4210134562","https://openalex.org/I4210151275","https://openalex.org/I190861549"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102073258"],"corresponding_institution_ids":["https://openalex.org/I190861549","https://openalex.org/I4210134562","https://openalex.org/I4210151275"],"apc_list":null,"apc_paid":null,"fwci":0.0602,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.29958648,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"pp","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9983999729156494,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.7688813209533691},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.6138323545455933},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4489898681640625},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.43823760747909546},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3959324359893799},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3366919755935669},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16144078969955444}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7688813209533691},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.6138323545455933},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4489898681640625},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.43823760747909546},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3959324359893799},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3366919755935669},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16144078969955444}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon49645.2022.9968633","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon49645.2022.9968633","pdf_url":null,"source":{"id":"https://openalex.org/S4363607717","display_name":"IECON 2022 \u2013 48th Annual Conference of the IEEE Industrial Electronics Society","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2022 \u2013 48th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1837258984","https://openalex.org/W1974420912","https://openalex.org/W2030929340","https://openalex.org/W2043490072","https://openalex.org/W2049410986","https://openalex.org/W2054478282","https://openalex.org/W2109983327","https://openalex.org/W2110762409","https://openalex.org/W2111312451","https://openalex.org/W2152916401","https://openalex.org/W2168583767","https://openalex.org/W2171025682","https://openalex.org/W2216547738","https://openalex.org/W2531829834","https://openalex.org/W2739477330","https://openalex.org/W2967001040","https://openalex.org/W3193508208","https://openalex.org/W4206642207","https://openalex.org/W4312520855","https://openalex.org/W6728992733","https://openalex.org/W7001322157"],"related_works":["https://openalex.org/W4234825356","https://openalex.org/W2331363374","https://openalex.org/W4361186078","https://openalex.org/W2329712830","https://openalex.org/W2373585563","https://openalex.org/W1639816509","https://openalex.org/W2390797667","https://openalex.org/W2139381935","https://openalex.org/W2569194538","https://openalex.org/W2363455129"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,14,30,100,106,113],"framework":[4],"combining":[5],"base":[6,53],"placement,":[7],"path":[8,82],"planning":[9,83],"and":[10,81,105],"redundancy":[11,79],"resolution":[12],"for":[13],"mobile":[15,103],"manipulator":[16,60,74,109],"performing":[17,110],"sequential":[18],"tasks,":[19,26,34],"such":[20],"as":[21],"screwing,":[22],"drilling":[23],"or":[24],"assembling":[25],"is":[27,97],"proposed.":[28],"For":[29],"set":[31],"of":[32,37,48,51,56,59,65,72,78,84,93],"given":[33],"the":[35,38,42,49,52,57,69,73,85,94],"outputs":[36],"proposed":[39,95],"algorithm":[40],"meet":[41],"following":[43],"practical":[44],"performance":[45],"indicators:":[46],"minimization":[47,55],"number":[50,58],"positions,":[54],"joint":[61],"configuration":[62],"changes,":[63],"feasibility":[64],"each":[66],"task":[67],"considering":[68,99],"force":[70],"capacity":[71],"(which":[75],"takes":[76],"benefit":[77],"resolution)":[80],"end-effector":[86],"motion":[87],"with":[88,115],"obstacle":[89],"avoidance.":[90],"The":[91],"effectiveness":[92],"approach":[96],"evaluated":[98],"3":[101],"DOFs":[102,108],"platform":[104],"7":[107],"screwing":[111],"in":[112],"application":[114],"42":[116],"tasks.":[117]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}