{"id":"https://openalex.org/W2172091886","doi":"https://doi.org/10.1109/iros.2009.5354631","title":"Constraint task-based control in industrial settings","display_name":"Constraint task-based control in industrial settings","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2172091886","doi":"https://doi.org/10.1109/iros.2009.5354631","mag":"2172091886"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354631","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354631","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":"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/A5079274451","display_name":"Claus Lenz","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Claus Lenz","raw_affiliation_strings":["Robotics and Embedded Systems, Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Embedded Systems, Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003833130","display_name":"Markus Rickert","orcid":"https://orcid.org/0000-0001-6264-0888"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Rickert","raw_affiliation_strings":["Robotics and Embedded Systems, Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Embedded Systems, Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104029949","display_name":"Giorgio Panin","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Giorgio Panin","raw_affiliation_strings":["Robotics and Embedded Systems, Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Embedded Systems, Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Robotics and Embedded Systems, Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Embedded Systems, Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.8506,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.93858743,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3058","last_page":"3063"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9883000254631042,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9652000069618225,"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/robot","display_name":"Robot","score":0.7486730813980103},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6487123966217041},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.647023618221283},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6430997252464294},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5895626544952393},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5460089445114136},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.538041353225708},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.5208985805511475},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4958404004573822},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.48718780279159546},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4766831398010254},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45301300287246704},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.45290407538414},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4286864697933197},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4266131818294525},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.42546209692955017},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3289816975593567},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21177938580513},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.16821882128715515},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09075561165809631}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7486730813980103},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6487123966217041},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.647023618221283},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6430997252464294},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5895626544952393},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5460089445114136},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.538041353225708},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.5208985805511475},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4958404004573822},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.48718780279159546},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4766831398010254},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45301300287246704},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.45290407538414},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4286864697933197},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4266131818294525},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.42546209692955017},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3289816975593567},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21177938580513},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.16821882128715515},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09075561165809631},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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":3,"locations":[{"id":"doi:10.1109/iros.2009.5354631","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354631","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:CiteSeerX.psu:10.1.1.667.8967","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.667.8967","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www6.in.tum.de/Main/Publications/Lenz2009b.pdf","raw_type":"text"},{"id":"pmh:oai:mediatum.ub.tum.de:node/820292","is_oa":false,"landing_page_url":"http://mediatum.ub.tum.de/node?id=820292","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.4099999964237213,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W255922872","https://openalex.org/W599776289","https://openalex.org/W1529451439","https://openalex.org/W1968729317","https://openalex.org/W2098197754","https://openalex.org/W2100049187","https://openalex.org/W2100913768","https://openalex.org/W2109132561","https://openalex.org/W2110224351","https://openalex.org/W2128137193","https://openalex.org/W2138794591","https://openalex.org/W2139861412","https://openalex.org/W2140403608","https://openalex.org/W2140790068","https://openalex.org/W2145288592","https://openalex.org/W2149085596","https://openalex.org/W2162812511","https://openalex.org/W2163998405","https://openalex.org/W2170403483","https://openalex.org/W2250331966","https://openalex.org/W2544432894","https://openalex.org/W4234255352","https://openalex.org/W4244661515","https://openalex.org/W6680918127","https://openalex.org/W6685018910","https://openalex.org/W6832940297"],"related_works":["https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880","https://openalex.org/W3110580084"],"abstract_inverted_index":{"Direct":[0],"physical":[1],"human-robot":[2],"interaction":[3],"has":[4],"become":[5],"a":[6,31,63,124],"central":[7],"part":[8],"in":[9,33,87],"the":[10,18,21,36,43,53,103,116],"research":[11],"field":[12],"of":[13,20,62,67,93,105],"robotics":[14],"today.":[15],"To":[16,114],"use":[17],"advantages":[19],"potential":[22],"for":[23,42,52,70],"humans":[24],"and":[25,45,82,110,126],"robots":[26,69],"to":[27,49],"work":[28],"together":[29],"as":[30],"team":[32],"industrial":[34,68,128],"settings,":[35],"most":[37],"important":[38],"issues":[39],"are":[40],"safety":[41],"human":[44,125],"an":[46,60,88,127],"easy":[47],"way":[48],"describe":[50],"tasks":[51,75],"robot.":[54,129],"In":[55],"this":[56],"work,":[57],"we":[58,118],"present":[59,119],"approach":[61],"hierarchical":[64],"structured":[65],"control":[66],"joint-action":[71],"scenarios.":[72],"Multiple":[73],"atomic":[74],"including":[76],"dynamic":[77],"collision":[78],"avoidance,":[79],"operational":[80],"position,":[81],"posture":[83],"can":[84],"be":[85],"combined":[86],"arbitrary":[89],"order":[90],"respecting":[91],"constraints":[92],"higher":[94],"priority":[95],"tasks.":[96],"The":[97],"controller":[98],"flow":[99],"is":[100],"based":[101],"on":[102],"theory":[104],"orthogonal":[106],"projection":[107],"using":[108],"nullspaces":[109],"constraint":[111],"least-square":[112],"optimization.":[113],"proof":[115],"approach,":[117],"three":[120],"collaboration":[121],"scenarios":[122],"between":[123]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}