{"id":"https://openalex.org/W2054043216","doi":"https://doi.org/10.1109/iros.2004.1389905","title":"Distributed form closure for convex planar objects through reinforcement learning with local information","display_name":"Distributed form closure for convex planar objects through reinforcement learning with local information","publication_year":2005,"publication_date":"2005-04-12","ids":{"openalex":"https://openalex.org/W2054043216","doi":"https://doi.org/10.1109/iros.2004.1389905","mag":"2054043216"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389905","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389905","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5006104138","display_name":"A.H. Elahibakhsh","orcid":null},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]},{"id":"https://openalex.org/I3145578848","display_name":"Institute for Cognitive Science Studies","ror":"https://ror.org/0378cd528","country_code":"IR","type":"facility","lineage":["https://openalex.org/I3145578848"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"A.H. Elahibakhsh","raw_affiliation_strings":["Dept. of Electrical and Computer Eng., AI & Robotics Lab., Center of Excellence for Control and Intelligent Processing, University of Tehran, Tehran, Iran","School of Cognitive Sciences, Institute for Studies on Theoretical Physics and Mathematics, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Eng., AI & Robotics Lab., Center of Excellence for Control and Intelligent Processing, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"School of Cognitive Sciences, Institute for Studies on Theoretical Physics and Mathematics, Tehran, Iran","institution_ids":["https://openalex.org/I3145578848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072135442","display_name":"Majid Nili Ahmadabadi","orcid":"https://orcid.org/0000-0002-6370-6057"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]},{"id":"https://openalex.org/I3145578848","display_name":"Institute for Cognitive Science Studies","ror":"https://ror.org/0378cd528","country_code":"IR","type":"facility","lineage":["https://openalex.org/I3145578848"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"M.N. Ahmadabadi","raw_affiliation_strings":["Dept. of Electrical and Computer Eng., AI & Robotics Lab., Center of Excellence for Control and Intelligent Processing, University of Tehran, Tehran, Iran","School of Cognitive Sciences, Institute for Studies on Theoretical Physics and Mathematics, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Eng., AI & Robotics Lab., Center of Excellence for Control and Intelligent Processing, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"School of Cognitive Sciences, Institute for Studies on Theoretical Physics and Mathematics, Tehran, Iran","institution_ids":["https://openalex.org/I3145578848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100865141","display_name":"Farid Sharifi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"F.J. Sharifi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5083876282","display_name":"Babak Nadjar Araabi","orcid":"https://orcid.org/0000-0002-5283-263X"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]},{"id":"https://openalex.org/I3145578848","display_name":"Institute for Cognitive Science Studies","ror":"https://ror.org/0378cd528","country_code":"IR","type":"facility","lineage":["https://openalex.org/I3145578848"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"B.N. Araabi","raw_affiliation_strings":["Dept. of Electrical and Computer Eng., AI & Robotics Lab., Center of Excellence for Control and Intelligent Processing, University of Tehran, Tehran, Iran","School of Cognitive Sciences, Institute for Studies on Theoretical Physics and Mathematics, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Eng., AI & Robotics Lab., Center of Excellence for Control and Intelligent Processing, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"School of Cognitive Sciences, Institute for Studies on Theoretical Physics and Mathematics, Tehran, Iran","institution_ids":["https://openalex.org/I3145578848"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"3170","last_page":"3175"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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":0.9987000226974487,"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/grasp","display_name":"GRASP","score":0.8744317889213562},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7249716520309448},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6557096242904663},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6446214914321899},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.580636739730835},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5722038745880127},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5440402030944824},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.5407760739326477},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4689338505268097},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4680456817150116},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46366268396377563},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2201087474822998},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08267658948898315},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.07438111305236816}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8744317889213562},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7249716520309448},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6557096242904663},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6446214914321899},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.580636739730835},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5722038745880127},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5440402030944824},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.5407760739326477},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4689338505268097},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4680456817150116},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46366268396377563},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2201087474822998},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08267658948898315},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.07438111305236816},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2004.1389905","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389905","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W3477136","https://openalex.org/W1497473266","https://openalex.org/W1557517019","https://openalex.org/W1568517062","https://openalex.org/W1656336092","https://openalex.org/W2021913297","https://openalex.org/W2082244867","https://openalex.org/W2086519765","https://openalex.org/W2107726111","https://openalex.org/W2117884622","https://openalex.org/W2126011115","https://openalex.org/W2140173255","https://openalex.org/W2140294374","https://openalex.org/W2158726602","https://openalex.org/W4214717370","https://openalex.org/W4250629717","https://openalex.org/W6637099992"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W2019547100","https://openalex.org/W4293797662"],"abstract_inverted_index":{"Many":[0],"real":[1],"world":[2],"applications":[3],"would":[4,20],"involve":[5],"grasp":[6,17,35],"of":[7,18,32,57],"large":[8],"objects":[9,19,39],"in":[10],"unstructured":[11],"environments.":[12],"Agent-based":[13],"approach":[14,77],"to":[15,46,68],"multi-robot":[16],"prove":[21],"useful":[22],"under":[23],"the":[24,30,47,55,58,63],"above":[25],"circumstances.":[26],"In":[27],"this":[28],"paper,":[29],"problem":[31],"form":[33],"closure":[34],"for":[36],"planar":[37],"convex":[38],"by":[40],"multiple":[41],"robots":[42,64],"is":[43,60,80],"tackled.":[44],"Contrary":[45],"previous":[48],"approaches,":[49],"no":[50],"a":[51,99],"priori":[52],"information":[53],"about":[54],"shape":[56],"object":[59],"assumed,":[61],"and":[62,87],"are":[65,90,94],"not":[66],"allowed":[67],"fully":[69],"communicate":[70],"among":[71],"themselves.":[72],"A":[73],"distributed":[74],"multi-agent":[75],"based":[76],"using":[78,98],"Q-learning":[79,101],"proposed.":[81],"The":[82,92],"state":[83],"space,":[84],"action":[85],"set":[86],"learning":[88],"algorithm":[89],"formulated.":[91],"results":[93],"verified":[95],"through":[96],"simulations":[97],"developed":[100],"test":[102],"bed.":[103]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}