{"id":"https://openalex.org/W2142450096","doi":"https://doi.org/10.1109/iros.2009.5354833","title":"Addressing pose uncertainty in manipulation planning using Task Space Regions","display_name":"Addressing pose uncertainty in manipulation planning using Task Space Regions","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2142450096","doi":"https://doi.org/10.1109/iros.2009.5354833","mag":"2142450096"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354833","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354833","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/Addressing_Pose_Uncertainty_in_Manipulation_Planning_Using_Task_Space_Regions/6551801","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083082888","display_name":"Dmitry Berenson","orcid":"https://orcid.org/0000-0002-9712-109X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dmitry Berenson","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddhartha S. Srinivasa","raw_affiliation_strings":["Intel Research Pittsburgh, Pittsburgh, PA, USA","The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Intel Research Pittsburgh, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I1343180700"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021782513","display_name":"James Kuffner","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James J. Kuffner","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5083082888"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":11.5477,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.98299911,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1419","last_page":"1425"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9929999709129333,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.8106117248535156},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7710734605789185},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6837748885154724},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6581836938858032},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6180600523948669},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6092798709869385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5653390288352966},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5473511219024658},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5193710923194885},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4973645508289337},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.47605037689208984},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4346630573272705},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42492765188217163},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4205389618873596},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.41130784153938293},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.2524864673614502},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1222195029258728},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.06665259599685669},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.0588134229183197},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.055929750204086304}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.8106117248535156},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7710734605789185},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6837748885154724},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6581836938858032},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6180600523948669},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6092798709869385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5653390288352966},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5473511219024658},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5193710923194885},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4973645508289337},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.47605037689208984},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4346630573272705},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42492765188217163},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4205389618873596},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.41130784153938293},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2524864673614502},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1222195029258728},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.06665259599685669},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0588134229183197},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.055929750204086304},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/iros.2009.5354833","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354833","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:repository.cmu.edu:robotics-2045","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=2045&context=robotics","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics Institute","raw_type":"text"},{"id":"pmh:doi:10.1184/r1/6551801","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"Journal contribution"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.187.7705","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.187.7705","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/2009/10/iros09.pdf","raw_type":"text"},{"id":"pmh:oai:figshare.com:article/6551801","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Addressing_Pose_Uncertainty_in_Manipulation_Planning_Using_Task_Space_Regions/6551801","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"doi:10.1184/r1/6551801.v1","is_oa":true,"landing_page_url":"https://doi.org/10.1184/r1/6551801.v1","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":[],"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/6551801","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Addressing_Pose_Uncertainty_in_Manipulation_Planning_Using_Task_Space_Regions/6551801","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6200000047683716}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W196971580","https://openalex.org/W1424654272","https://openalex.org/W1975184900","https://openalex.org/W1989604857","https://openalex.org/W1990012555","https://openalex.org/W1997650413","https://openalex.org/W2034469604","https://openalex.org/W2041491564","https://openalex.org/W2075753041","https://openalex.org/W2093801937","https://openalex.org/W2118935525","https://openalex.org/W2119123957","https://openalex.org/W2135677376","https://openalex.org/W2141664020","https://openalex.org/W2144908914","https://openalex.org/W2145778183","https://openalex.org/W2152828142","https://openalex.org/W2153759243","https://openalex.org/W2183380640","https://openalex.org/W2313368779","https://openalex.org/W2337770697","https://openalex.org/W2479430657","https://openalex.org/W2611243847","https://openalex.org/W3104753760","https://openalex.org/W6685925452"],"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/W2002361198","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W4381746183"],"abstract_inverted_index":{"We":[0,24,44],"present":[1],"an":[2],"efficient":[3],"approach":[4,69],"to":[5,17,28,34,48,58,79,115],"generating":[6],"paths":[7,130],"for":[8,41,54],"a":[9,42,50,55,81,92,117,125,132],"robotic":[10],"manipulator":[11],"that":[12,71,88],"are":[13,142],"collision-free":[14],"and":[15,37],"guaranteed":[16],"meet":[18],"task":[19,30,57,89,96],"specifications":[20],"despite":[21],"pose":[22,62,74],"uncertainty.":[23,63],"first":[25],"describe":[26],"how":[27,47],"use":[29],"space":[31],"regions":[32],"(TSRs)":[33],"specify":[35],"grasping":[36],"object":[38],"placement":[39],"tasks":[40],"manipulator.":[43],"then":[45],"show":[46,121],"modify":[49],"set":[51],"of":[52,67,124,139],"TSRs":[53,114],"certain":[56,82],"take":[59],"into":[60],"account":[61],"A":[64],"key":[65],"advantage":[66],"this":[68],"is":[70,76,97],"if":[72],"the":[73,95,102,108,137],"uncertainty":[75],"too":[77],"great":[78],"accomplish":[80],"task,":[83],"we":[84,100,120],"can":[85],"quickly":[86],"reject":[87],"without":[90],"invoking":[91],"planner.":[93],"If":[94],"not":[98],"rejected":[99],"run":[101],"IKBiRRT":[103],"planner,":[104],"which":[105],"trades-off":[106],"exploring":[107],"robot's":[109],"C-space":[110],"with":[111],"sampling":[112],"from":[113],"compute":[116],"path.":[118],"Finally,":[119],"several":[122],"examples":[123],"7-DOF":[126],"WAM":[127],"arm":[128],"planning":[129],"in":[131],"cluttered":[133],"kitchen":[134],"environment":[135],"where":[136],"poses":[138],"all":[140],"objects":[141],"uncertain.":[143]},"counts_by_year":[{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":8}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}