{"id":"https://openalex.org/W2124457362","doi":"https://doi.org/10.1109/iros.2011.6094946","title":"Efficient motion planning for manipulation robots in environments with deformable objects","display_name":"Efficient motion planning for manipulation robots in environments with deformable objects","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2124457362","doi":"https://doi.org/10.1109/iros.2011.6094946","mag":"2124457362"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094946","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/A5102990811","display_name":"Barbara Frank","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Barbara Frank","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028710264","display_name":"Nichola Abdo","orcid":"https://orcid.org/0000-0003-3060-9768"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nichola Abdo","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102990811"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":3.3758,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.92355606,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2180","last_page":"2185"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9975000023841858,"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":0.996999979019165,"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/computer-science","display_name":"Computer science","score":0.7432011365890503},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6561657190322876},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6491497159004211},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5374346971511841},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5185456871986389},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.49607619643211365},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.48737913370132446},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4766051173210144},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45905694365501404},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.4528806805610657},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4372327923774719},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33946120738983154},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.22807073593139648},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1464807391166687}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7432011365890503},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6561657190322876},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6491497159004211},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5374346971511841},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5185456871986389},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.49607619643211365},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.48737913370132446},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4766051173210144},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45905694365501404},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.4528806805610657},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4372327923774719},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33946120738983154},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.22807073593139648},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1464807391166687},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2011.6094946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094946","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.233.5408","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.233.5408","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/%7Estachnis/pdf/frank11iros.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1561021726","https://openalex.org/W1604206505","https://openalex.org/W1746819321","https://openalex.org/W2003942791","https://openalex.org/W2007236156","https://openalex.org/W2007692097","https://openalex.org/W2045448547","https://openalex.org/W2067284330","https://openalex.org/W2089630413","https://openalex.org/W2116039148","https://openalex.org/W2116162693","https://openalex.org/W2124140750","https://openalex.org/W2128978595","https://openalex.org/W2128990851","https://openalex.org/W2129298951","https://openalex.org/W2129880109","https://openalex.org/W2135521054","https://openalex.org/W2153691669","https://openalex.org/W2157979562","https://openalex.org/W2163823715","https://openalex.org/W3083135905","https://openalex.org/W3139998236","https://openalex.org/W4211049957","https://openalex.org/W6677291438","https://openalex.org/W6679934385","https://openalex.org/W6684123713"],"related_works":["https://openalex.org/W2107702345","https://openalex.org/W2381469031","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W2389713625","https://openalex.org/W4308217561","https://openalex.org/W1904098742","https://openalex.org/W2134348961","https://openalex.org/W3158921809"],"abstract_inverted_index":{"The":[0],"ability":[1],"to":[2,8,67,119,131,145],"plan":[3],"their":[4],"own":[5],"motions":[6],"and":[7,102,122],"reliably":[9],"execute":[10],"them":[11],"is":[12,58,117,141],"an":[13],"important":[14],"precondition":[15],"for":[16,72],"autonomous":[17],"robots.":[18],"In":[19],"this":[20],"paper,":[21],"we":[22,61],"consider":[23,124],"the":[24,28,36,54,69,81,115,125,132,138],"problem":[25],"of":[26,30,38],"planning":[27,46],"motion":[29,135],"a":[31,48,86,90,107,146],"mobile":[32,108],"manipulation":[33,109],"robot":[34,116],"in":[35,89],"presence":[37],"deformable":[39],"objects.":[40],"Our":[41,111],"approach":[42,105],"combines":[43],"probabilistic":[44],"roadmap":[45],"with":[47],"physical":[49,55,150],"deformation":[50,56,70,126],"simulation":[51,57,87],"system.":[52],"Since":[53],"computationally":[59],"demanding,":[60],"use":[62],"efficient":[63],"Gaussian":[64],"process":[65],"regression":[66],"estimate":[68],"cost":[71,127],"individual":[73],"objects":[74],"based":[75],"on":[76,106],"training":[77,82],"examples.":[78],"We":[79,100],"generate":[80],"data":[83],"by":[84],"employing":[85],"system":[88,147],"preprocessing":[91],"step.":[92],"Consequently,":[93],"no":[94],"simulations":[95,151],"are":[96],"needed":[97],"during":[98,134],"runtime.":[99],"implemented":[101],"tested":[103],"our":[104],"robot.":[110],"experiments":[112],"show":[113],"that":[114,148],"able":[118],"accurately":[120],"predict":[121],"thus":[123],"its":[128],"manipulator":[129],"introduces":[130],"environment":[133],"planning.":[136],"Simultaneously,":[137],"computation":[139],"time":[140],"substantially":[142],"reduced":[143],"compared":[144],"employs":[149],"online.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}