{"id":"https://openalex.org/W2125896757","doi":"https://doi.org/10.1109/iros.2008.4650809","title":"Hierarchical Abstraction of World Elements and Behaviors for efficient task planning of a mobile robot","display_name":"Hierarchical Abstraction of World Elements and Behaviors for efficient task planning of a mobile robot","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2125896757","doi":"https://doi.org/10.1109/iros.2008.4650809","mag":"2125896757"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4650809","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650809","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5109900563","display_name":"Young-Bin Park","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Young-Bin Park","raw_affiliation_strings":["Division of Electrical and Computer Engineering, Hanyang University, Seoul, South Korea","Div. of Electr. & Comput. Eng., Hanyang Univ., Seoul"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Electrical and Computer Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Div. of Electr. & Comput. Eng., Hanyang Univ., Seoul","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030410269","display_name":"Il Hong Suh","orcid":"https://orcid.org/0000-0002-0981-329X"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Il Hong Suh","raw_affiliation_strings":["Division of Electrical and Computer Engineering, Hanyang University, Seoul, South Korea","Div. of Electr. & Comput. Eng., Hanyang Univ., Seoul"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Electrical and Computer Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Div. of Electr. & Comput. Eng., Hanyang Univ., Seoul","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103650906","display_name":"Byung-Uk Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byung-Uk Choi","raw_affiliation_strings":["Division of Electrical and Computer Engineering, Hanyang University, Seoul, South Korea","Div. of Electr. & Comput. Eng., Hanyang Univ., Seoul"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Electrical and Computer Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Div. of Electr. & Comput. Eng., Hanyang Univ., Seoul","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"1661","issue":null,"first_page":"2585","last_page":"2592"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9997000098228455,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9997000098228455,"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/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9987000226974487,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9970999956130981,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.9295891523361206},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.8273569345474243},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7220596671104431},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6132405996322632},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5839757919311523},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5293598771095276},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5033552050590515},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47237589955329895},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4598553776741028},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.45770761370658875},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.4286542534828186},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41137224435806274},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.19832345843315125},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11569064855575562},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10265141725540161},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.07464253902435303}],"concepts":[{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.9295891523361206},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.8273569345474243},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7220596671104431},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6132405996322632},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5839757919311523},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5293598771095276},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5033552050590515},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47237589955329895},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4598553776741028},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.45770761370658875},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.4286542534828186},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41137224435806274},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.19832345843315125},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11569064855575562},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10265141725540161},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.07464253902435303},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2008.4650809","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650809","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.467.4958","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.467.4958","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://incorl.hanyang.ac.kr/xe/paper/ic/ic2008-6.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.75,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1484780672","https://openalex.org/W1501129975","https://openalex.org/W1688412729","https://openalex.org/W2010087056","https://openalex.org/W2037210683","https://openalex.org/W2044459544","https://openalex.org/W2100988719","https://openalex.org/W2104363892","https://openalex.org/W2126842639","https://openalex.org/W2147357263","https://openalex.org/W2148500748","https://openalex.org/W2159041621","https://openalex.org/W2160927913","https://openalex.org/W2501369468","https://openalex.org/W2899987233","https://openalex.org/W6629188307","https://openalex.org/W6652912730","https://openalex.org/W6675301218","https://openalex.org/W6683385757"],"related_works":["https://openalex.org/W2366107444","https://openalex.org/W4388145910","https://openalex.org/W1976205134","https://openalex.org/W2381570729","https://openalex.org/W4248336175","https://openalex.org/W3009369890","https://openalex.org/W2031260042","https://openalex.org/W2391445434","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Task":[0],"planning":[1,102,110],"by":[2],"hierarchical":[3,52],"abstraction":[4,18,29,42,47,100,108],"of":[5,19,30,43,48,58,69,78,85],"world":[6,20,44,98],"elements":[7,21,45,99],"and":[8,28,93],"behaviors(PhaWeB)":[9],"is":[10,22,32],"proposed":[11,87],"for":[12],"mobile":[13],"robots":[14],"task":[15],"planning,":[16],"where":[17],"used":[23,33],"to":[24,34],"reduce":[25],"search":[26],"space":[27],"behaviors":[31,107],"efficiently":[35],"find":[36],"more":[37],"detailed":[38],"behaviors.":[39],"To":[40,81],"integrate":[41],"with":[46,97],"behaviors,":[49],"we":[50],"construct":[51],"domain":[53],"description":[54],"based":[55,101,109],"on":[56],"joint":[57],"action":[59,70,79],"hierarchy":[60,71],"(JAH).":[61],"In":[62],"JAH,":[63],"some":[64],"actions":[65],"in":[66,74],"a":[67],"level":[68,77],"are":[72,91],"included":[73],"the":[75,83],"adjacent":[76],"hierarchy.":[80],"show":[82],"validities":[84],"our":[86],"PhaWeB,":[88],"experimental":[89],"results":[90],"illustrated":[92],"will":[94],"be":[95],"compared":[96],"approach":[103],"as":[104,106],"well":[105],"approach.":[111]},"counts_by_year":[{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}