{"id":"https://openalex.org/W2022115960","doi":"https://doi.org/10.1109/iros.2010.5653275","title":"Real-time path planning for a robot arm in changing environments","display_name":"Real-time path planning for a robot arm in changing environments","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2022115960","doi":"https://doi.org/10.1109/iros.2010.5653275","mag":"2022115960"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5653275","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5653275","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://repository.gatech.edu/bitstreams/05db2a53-bf76-4099-8868-3ba62e7a03e8/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007673474","display_name":"Tobias Kunz","orcid":"https://orcid.org/0000-0002-5614-2265"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Tobias Kunz","raw_affiliation_strings":["Center for Robotics and Intelligent Machines (RIM) at the Georgia Institute of Technology, Atlanta, 30332, USA","Fraunhofer IPA, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Robotics and Intelligent Machines (RIM) at the Georgia Institute of Technology, Atlanta, 30332, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Fraunhofer IPA, Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017805580","display_name":"Ulrich Reiser","orcid":null},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ulrich Reiser","raw_affiliation_strings":["Fraunhofer IPA, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer IPA, Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044606805","display_name":"Mike Stilman","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mike Stilman","raw_affiliation_strings":["Center for Robotics and Intelligent Machines (RIM) at the Georgia Institute of Technology, Atlanta, 30332, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Robotics and Intelligent Machines (RIM) at the Georgia Institute of Technology, Atlanta, 30332, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048205111","display_name":"Alexander Verl","orcid":"https://orcid.org/0000-0002-2548-6620"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Verl","raw_affiliation_strings":["Fraunhofer IPA, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer IPA, Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2291,"has_fulltext":true,"cited_by_count":64,"citation_normalized_percentile":{"value":0.92436906,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5906","last_page":"5911"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/planner","display_name":"Planner","score":0.7594599723815918},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7524048686027527},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7439038157463074},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7054527997970581},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6489114761352539},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6487545967102051},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5954468250274658},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5878776907920837},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5741853713989258},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.510718822479248},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.431659996509552},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18709784746170044},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.16274017095565796},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.06313639879226685}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7594599723815918},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7524048686027527},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7439038157463074},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7054527997970581},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6489114761352539},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6487545967102051},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5954468250274658},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5878776907920837},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5741853713989258},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.510718822479248},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.431659996509552},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18709784746170044},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.16274017095565796},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.06313639879226685},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros.2010.5653275","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5653275","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:smartech.gatech.edu:1853/36424","is_oa":true,"landing_page_url":"http://hdl.handle.net/1853/36424","pdf_url":"http://repository.gatech.edu/bitstreams/05db2a53-bf76-4099-8868-3ba62e7a03e8/download","source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.393.900","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.393.900","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.golems.org/papers/KunzIROS10-PRMCE.pdf","raw_type":"text"},{"id":"pmh:oai:fraunhofer.de:N-151916","is_oa":false,"landing_page_url":"http://publica.fraunhofer.de/documents/N-151916.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400801","display_name":"Publikationsdatenbank der Fraunhofer-Gesellschaft (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer IPA","raw_type":"Conference Paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/368307","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/368307","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"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":"conference paper"}],"best_oa_location":{"id":"pmh:oai:smartech.gatech.edu:1853/36424","is_oa":true,"landing_page_url":"http://hdl.handle.net/1853/36424","pdf_url":"http://repository.gatech.edu/bitstreams/05db2a53-bf76-4099-8868-3ba62e7a03e8/download","source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5299999713897705,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2022115960.pdf","grobid_xml":"https://content.openalex.org/works/W2022115960.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W255922872","https://openalex.org/W1424654272","https://openalex.org/W1536373029","https://openalex.org/W1969483458","https://openalex.org/W1993999483","https://openalex.org/W2087106963","https://openalex.org/W2090119071","https://openalex.org/W2101033030","https://openalex.org/W2103120971","https://openalex.org/W2128319160","https://openalex.org/W2133296809","https://openalex.org/W2152536965","https://openalex.org/W2161675447","https://openalex.org/W2338205278","https://openalex.org/W2611243847","https://openalex.org/W2986047257","https://openalex.org/W3104753760","https://openalex.org/W6632103127","https://openalex.org/W6703214588","https://openalex.org/W7058326854"],"related_works":["https://openalex.org/W2992534160","https://openalex.org/W1595058678","https://openalex.org/W3022812046","https://openalex.org/W2155467318","https://openalex.org/W122632647","https://openalex.org/W2060743914","https://openalex.org/W2359600231","https://openalex.org/W187779371","https://openalex.org/W2380019117","https://openalex.org/W3138952546"],"abstract_inverted_index":{"We":[0,74],"present":[1],"a":[2,50,83],"practical":[3],"strategy":[4],"for":[5,9,19,102],"real-time":[6],"path":[7,51],"planning":[8,49],"articulated":[10],"robot":[11,66],"arms":[12],"in":[13,33,54,79,105],"changing":[14,71],"environments":[15],"by":[16,95],"integrating":[17],"PRM":[18],"Changing":[20],"Environments":[21],"with":[22,115],"3D":[23],"sensor":[24],"data.":[25],"Our":[26],"implementation":[27,78],"on":[28],"Care-O-Bot":[29],"3":[30],"identifies":[31],"bottlenecks":[32],"the":[34,42,65,87,96],"algorithm":[35],"and":[36,48,92,107],"introduces":[37],"new":[38],"methods":[39],"that":[40],"solve":[41],"overall":[43],"task":[44],"of":[45],"detecting":[46],"obstacles":[47],"around":[52],"them":[53],"under":[55],"100":[56],"ms.":[57],"A":[58],"fast":[59],"planner":[60],"is":[61,90,100],"necessary":[62],"to":[63,67,69,117],"enable":[64],"react":[68],"quickly":[70],"human":[72,84],"environments.":[73],"have":[75],"tested":[76],"our":[77],"real-world":[80],"experiments":[81],"where":[82,110],"subject":[85],"enters":[86],"manipulation":[88],"area,":[89],"detected":[91],"safely":[93],"avoided":[94],"robot.":[97],"This":[98],"capability":[99],"critical":[101],"future":[103],"applications":[104],"automation":[106],"service":[108],"robotics":[109],"humans":[111],"will":[112],"work":[113],"closely":[114],"robots":[116],"jointly":[118],"perform":[119],"tasks.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}