{"id":"https://openalex.org/W2120123306","doi":"https://doi.org/10.1109/iros.2009.5354010","title":"Encoding user motion preferences in harmonic function path planning","display_name":"Encoding user motion preferences in harmonic function path planning","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2120123306","doi":"https://doi.org/10.1109/iros.2009.5354010","mag":"2120123306"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354010","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5032457614","display_name":"Giles John D'Silva","orcid":null},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Giles D'Silva","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Texas, Arlington, TX, USA","Department of Computer Science and Engineering at the University of Texas at Arlington, 76019, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Texas, Arlington, TX, USA","institution_ids":["https://openalex.org/I189196454"]},{"raw_affiliation_string":"Department of Computer Science and Engineering at the University of Texas at Arlington, 76019, USA","institution_ids":["https://openalex.org/I189196454"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047174917","display_name":"Manfred Huber","orcid":"https://orcid.org/0009-0007-0294-9147"},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Manfred Huber","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Texas, Arlington, TX, USA","Department of Computer Science and Engineering at the University of Texas at Arlington, 76019, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Texas, Arlington, TX, USA","institution_ids":["https://openalex.org/I189196454"]},{"raw_affiliation_string":"Department of Computer Science and Engineering at the University of Texas at Arlington, 76019, USA","institution_ids":["https://openalex.org/I189196454"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I189196454"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":null,"first_page":"5394","last_page":"5400"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9988999962806702,"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"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/motion-planning","display_name":"Motion planning","score":0.7479338049888611},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.713791012763977},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.670619010925293},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6692907810211182},{"id":"https://openalex.org/keywords/parametric-equation","display_name":"Parametric equation","score":0.556159257888794},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5231710076332092},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.491413950920105},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.49052876234054565},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4759744703769684},{"id":"https://openalex.org/keywords/harmonic-function","display_name":"Harmonic function","score":0.44555404782295227},{"id":"https://openalex.org/keywords/harmonic","display_name":"Harmonic","score":0.4426880478858948},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.43036335706710815},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42471790313720703},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4091804623603821},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36054664850234985},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32735174894332886},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24466988444328308},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10395970940589905}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7479338049888611},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.713791012763977},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.670619010925293},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6692907810211182},{"id":"https://openalex.org/C99636146","wikidata":"https://www.wikidata.org/wiki/Q35889","display_name":"Parametric equation","level":2,"score":0.556159257888794},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5231710076332092},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.491413950920105},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.49052876234054565},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4759744703769684},{"id":"https://openalex.org/C627467","wikidata":"https://www.wikidata.org/wiki/Q599027","display_name":"Harmonic function","level":2,"score":0.44555404782295227},{"id":"https://openalex.org/C127934551","wikidata":"https://www.wikidata.org/wiki/Q1148098","display_name":"Harmonic","level":2,"score":0.4426880478858948},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.43036335706710815},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42471790313720703},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4091804623603821},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36054664850234985},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32735174894332886},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24466988444328308},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10395970940589905},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354010","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"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":11,"referenced_works":["https://openalex.org/W1514407182","https://openalex.org/W2072886839","https://openalex.org/W2098499401","https://openalex.org/W2126700445","https://openalex.org/W2134246575","https://openalex.org/W2136880235","https://openalex.org/W2149398074","https://openalex.org/W2543099233","https://openalex.org/W2622020362","https://openalex.org/W6680469487","https://openalex.org/W6682178038"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W4313890004","https://openalex.org/W2360188928","https://openalex.org/W3193633018","https://openalex.org/W4221155962"],"abstract_inverted_index":{"Humans":[0],"have":[1],"unique":[2],"motion":[3,11,101],"preferences":[4,12,102,199],"when":[5],"pursuing":[6],"a":[7,19,43,92,126],"given":[8],"task.":[9],"These":[10],"could":[13,106,175],"be":[14,39,79,108,176],"expressed":[15],"as":[16,103],"moving":[17],"in":[18,114],"straight":[20],"line,":[21],"following":[22],"the":[23,33,99,118,144,147,150,155,158,169,197,205,212],"wall,":[24],"avoiding":[25,28],"sharp":[26],"turns,":[27],"damp":[29],"surfaces":[30],"or":[31,51,122],"choosing":[32],"shortest":[34],"path.":[35],"While":[36],"it":[37,61],"would":[38],"very":[40,64],"useful":[41],"for":[42],"range":[44],"of":[45,120,129,149,157,191,204],"applications":[46],"to":[47,54,66,97,110,178,185,195],"allow":[48],"robot":[49],"systems":[50],"artificial":[52],"agents":[53],"generate":[55,111,186],"paths":[56,113],"with":[57],"similar":[58,115,181],"specific":[59],"characteristics,":[60],"is":[62],"generally":[63],"difficult":[65],"capture":[67],"and":[68,132,154,183,217],"reproduce":[69],"them":[70],"from":[71,134],"observed":[72],"information":[73],"since":[74],"user":[75,151,198],"trajectories":[76,131],"can":[77],"not":[78,200],"easily":[80],"generalized.":[81],"To":[82],"address":[83],"this,":[84],"this":[85,140],"paper":[86],"introduces":[87],"an":[88,135],"approach":[89,141],"that":[90,211],"modifies":[91],"harmonic":[93,160,192],"function":[94,161,193],"path":[95,206],"planner":[96,207,214],"model":[98],"user's":[100],"parameters":[104,174,194],"which":[105],"then":[107],"used":[109,184],"new":[112,187],"environments":[116,182],"without":[117],"risk":[119],"collisions":[121],"incorrect":[123],"paths.":[124,188],"Given":[125],"small":[127],"set":[128],"user-specific":[130],"starting":[133],"initial,":[136],"generic":[137],"parameter":[138],"configuration,":[139],"incrementally":[142],"minimizes":[143],"difference":[145],"between":[146],"direction":[148],"trajectory":[152,170],"segments":[153],"gradient":[156],"parametric":[159],"by":[162],"modifying":[163],"its":[164],"underlying":[165],"parameters,":[166],"thus":[167],"capturing":[168],"preferences.":[171],"Subsequently,":[172],"these":[173],"transferred":[177],"new,":[179],"locally":[180],"The":[189],"use":[190],"represent":[196],"only":[201],"facilitates":[202],"customization":[203],"but":[208],"also":[209],"assures":[210],"customized":[213],"remains":[215],"complete":[216],"correct.":[218]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
