{"id":"https://openalex.org/W2163157475","doi":"https://doi.org/10.1109/iros.2009.5354287","title":"A control-based approach to task-constrained motion planning","display_name":"A control-based approach to task-constrained motion planning","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2163157475","doi":"https://doi.org/10.1109/iros.2009.5354287","mag":"2163157475"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354287","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/A5085865201","display_name":"Giuseppe Oriolo","orcid":"https://orcid.org/0000-0001-6153-9278"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Oriolo","raw_affiliation_strings":["Dipartimento di Informatics e sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatics e sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040398924","display_name":"Marilena Vendittelli","orcid":"https://orcid.org/0000-0002-5348-0525"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marilena Vendittelli","raw_affiliation_strings":["Dipartimento di Informatics e sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatics e sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":0.5363,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.65552405,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9984999895095825,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7558178305625916},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7411421537399292},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6964577436447144},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6736476421356201},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5669928193092346},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5591894388198853},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5227848887443542},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5185902118682861},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5146471261978149},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.503743588924408},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.45305106043815613},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4287927448749542},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41360899806022644},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3343506455421448},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2895558774471283},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13298377394676208},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11354243755340576}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7558178305625916},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7411421537399292},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6964577436447144},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6736476421356201},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5669928193092346},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5591894388198853},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5227848887443542},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5185902118682861},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5146471261978149},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.503743588924408},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.45305106043815613},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4287927448749542},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41360899806022644},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3343506455421448},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2895558774471283},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13298377394676208},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11354243755340576},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2009.5354287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354287","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"},{"id":"pmh:oai:iris.uniroma1.it:11573/224532","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/224532","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7400000095367432,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1424654272","https://openalex.org/W1510918013","https://openalex.org/W1521785144","https://openalex.org/W1582076359","https://openalex.org/W1863997888","https://openalex.org/W2000359213","https://openalex.org/W2042913147","https://openalex.org/W2048820947","https://openalex.org/W2059435624","https://openalex.org/W2074125761","https://openalex.org/W2096916336","https://openalex.org/W2102128251","https://openalex.org/W2110333200","https://openalex.org/W2113265921","https://openalex.org/W2118897212","https://openalex.org/W2126386176","https://openalex.org/W2144082062","https://openalex.org/W2159857204","https://openalex.org/W2163426622","https://openalex.org/W2611243847","https://openalex.org/W6635046670"],"related_works":["https://openalex.org/W71119328","https://openalex.org/W4249701897","https://openalex.org/W2147558862","https://openalex.org/W2044054821","https://openalex.org/W2383775285","https://openalex.org/W2165308390","https://openalex.org/W4385607490","https://openalex.org/W2376571261","https://openalex.org/W2351261275","https://openalex.org/W145109879"],"abstract_inverted_index":{"We":[0],"consider":[1],"the":[2,23,28,34,59,92,97,100,117,122],"problem":[3],"of":[4,30,41,80,91,99],"planning":[5],"collision-free":[6],"motions":[7],"for":[8],"general":[9],"(i.e.,":[10],"possibly":[11],"nonholonomic)":[12],"redundant":[13],"robots":[14],"subject":[15],"to":[16,22,37,87,115],"task":[17,35,53,94],"space":[18],"constraints.":[19],"Previous":[20],"approaches":[21],"solution":[24],"are":[25,45,113],"based":[26],"on":[27,71,104],"idea":[29],"sampling":[31],"and":[32,108],"inverting":[33],"constraint":[36],"build":[38],"a":[39,66,72,105,109],"roadmap":[40],"task-constrained":[42],"configurations":[43],"which":[44],"then":[46],"connected":[47],"by":[48],"simple":[49],"local":[50],"paths;":[51],"hence,":[52],"tracking":[54],"is":[55],"not":[56],"enforced":[57],"during":[58],"motion":[60,73],"between":[61],"samples.":[62],"Here,":[63],"we":[64],"present":[65],"control-based":[67],"randomized":[68],"approach":[69],"relying":[70],"generation":[74],"scheme":[75],"that":[76],"guarantees":[77],"continued":[78],"satisfaction":[79],"such":[81],"constraint.":[82],"The":[83],"resulting":[84],"planner":[85],"allows":[86],"achieve":[88],"accurate":[89],"execution":[90],"desired":[93],"without":[95],"increasing":[96],"size":[98],"roadmap.":[101],"Numerical":[102],"results":[103],"fixed-base":[106],"manipulator":[107,112],"free-fying":[110],"mobile":[111],"presented":[114],"illustrate":[116],"performance":[118],"improvement":[119],"obtained":[120],"with":[121],"proposed":[123],"technique.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}