{"id":"https://openalex.org/W2065216241","doi":"https://doi.org/10.1109/iros.2012.6385828","title":"Two-level RRT planning for robotic push manipulation","display_name":"Two-level RRT planning for robotic push manipulation","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2065216241","doi":"https://doi.org/10.1109/iros.2012.6385828","mag":"2065216241"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385828","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385828","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5072473987","display_name":"Claudio Zito","orcid":"https://orcid.org/0000-0002-2943-3518"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Claudio Zito","raw_affiliation_strings":["School of Computer Science, University of Birmingham, Birmingham, UK","School of Computer Science, University of Birmingham, B15 2TT, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Birmingham, Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]},{"raw_affiliation_string":"School of Computer Science, University of Birmingham, B15 2TT, United Kingdom","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005183926","display_name":"Rustam Stolkin","orcid":"https://orcid.org/0000-0002-0890-8836"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rustam Stolkin","raw_affiliation_strings":["School of Computer Science, University of Birmingham, Birmingham, UK","School of Computer Science, University of Birmingham, B15 2TT, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Birmingham, Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]},{"raw_affiliation_string":"School of Computer Science, University of Birmingham, B15 2TT, United Kingdom","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060085036","display_name":"Marek Kopicki","orcid":"https://orcid.org/0000-0002-0769-0556"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Marek Kopicki","raw_affiliation_strings":["School of Computer Science, University of Birmingham, Birmingham, UK","School of Computer Science, University of Birmingham, B15 2TT, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Birmingham, Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]},{"raw_affiliation_string":"School of Computer Science, University of Birmingham, B15 2TT, United Kingdom","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069031865","display_name":"Jeremy Wyatt","orcid":"https://orcid.org/0000-0001-6991-356X"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jeremy L. Wyatt","raw_affiliation_strings":["School of Computer Science, University of Birmingham, Birmingham, UK","School of Computer Science, University of Birmingham, B15 2TT, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Birmingham, Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]},{"raw_affiliation_string":"School of Computer Science, University of Birmingham, B15 2TT, United Kingdom","institution_ids":["https://openalex.org/I79619799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79619799"],"apc_list":null,"apc_paid":null,"fwci":1.8047,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.88579295,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"678","last_page":"685"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9979000091552734,"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":0.6717727780342102},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6596603989601135},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5945169925689697},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.580028235912323},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.562619149684906},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5610562562942505},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5152575969696045},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4947757124900818},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4886243939399719},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4470387399196625},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.43369078636169434},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.4190226197242737},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.41150227189064026}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6717727780342102},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6596603989601135},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5945169925689697},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.580028235912323},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.562619149684906},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5610562562942505},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5152575969696045},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4947757124900818},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4886243939399719},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4470387399196625},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.43369078636169434},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4190226197242737},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.41150227189064026},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2012.6385828","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385828","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.434.9656","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.434.9656","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.bham.ac.uk/~nah/bibtex/papers/zitoetal-iros12.pdf","raw_type":"text"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/11faffa8-2341-4b3b-a37d-02d156490b24","is_oa":false,"landing_page_url":"https://research.birmingham.ac.uk/en/publications/11faffa8-2341-4b3b-a37d-02d156490b24","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Zito, C, Kopicki, M & Wyatt, J L 2012, Two-level RRT planning for robotic push manipulation. in IEEE International Conference on Intelligent Robots and Systems., 6385828, pp. 678-685, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 7/10/12. https://doi.org/10.1109/IROS.2012.6385828","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7599999904632568}],"awards":[],"funders":[{"id":"https://openalex.org/F4320338370","display_name":"FP7 Information and Communication Technologies","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W13121074","https://openalex.org/W131069610","https://openalex.org/W1424654272","https://openalex.org/W1489844845","https://openalex.org/W1762028192","https://openalex.org/W2105353029","https://openalex.org/W2115519999","https://openalex.org/W2116597489","https://openalex.org/W2118262294","https://openalex.org/W2128447112","https://openalex.org/W2128990851","https://openalex.org/W2130527101","https://openalex.org/W2134072104","https://openalex.org/W2163000058","https://openalex.org/W2611243847","https://openalex.org/W2908931433","https://openalex.org/W6605295560","https://openalex.org/W6757938239"],"related_works":["https://openalex.org/W2005695917","https://openalex.org/W2155467318","https://openalex.org/W122632647","https://openalex.org/W2060743914","https://openalex.org/W2333571655","https://openalex.org/W2359600231","https://openalex.org/W187779371","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1660309994"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2,44],"an":[3],"algorithm":[4,193],"for":[5,47,70,124],"planning":[6,64,142],"sequences":[7,175],"of":[8,40,50,85,105,117,156,167,170,176,191,217],"pushes,":[9],"by":[10,212],"which":[11,108,125,200],"a":[12,17,23,29,96,121,137,161,201,205,215],"robotic":[13],"arm":[14],"equipped":[15],"with":[16],"single":[18,219],"rigid":[19,206],"finger":[20,220],"can":[21],"move":[22,179,204],"manipulated":[24],"object":[25,88],"(or":[26],"manipulandum)":[27],"towards":[28],"desired":[30],"goal":[31],"pose.":[32],"Pushing":[33],"is":[34,109,150,194],"perhaps":[35],"the":[36,51,73,77,82,86,102,106,114,118,154,180,187,192],"most":[37],"basic":[38],"kind":[39],"manipulation,":[41,95],"however":[42],"it":[43],"difficult":[45],"challenges":[46],"planning,":[48],"because":[49],"complex":[52,122,209],"relationship":[53],"between":[54],"manipulative":[55],"pushing":[56,94,143,171],"actions":[57],"and":[58],"resulting":[59],"manipulandum":[60,87,119,158,181],"motions.":[61],"The":[62,189],"motion":[63,115],"literature":[65],"has":[66],"well":[67],"developed":[68],"paradigms":[69],"solving":[71],"e.g.":[72],"piano-mover's":[74],"problem,":[75],"where":[76],"search":[78],"occurs":[79],"directly":[80],"in":[81,93,101,196,199],"configuration":[83],"space":[84,104,116,155],"being":[89],"moved.":[90],"In":[91,132],"contrast,":[92],"plan":[97,174],"must":[98,203],"be":[99,130],"built":[100],"action":[103],"robot,":[107],"only":[110,214],"indirectly":[111],"linked":[112],"to":[113,141,152,173,178,186],"through":[120,208],"interaction":[123],"inverse":[126],"models":[127,169],"may":[128],"not":[129],"known.":[131],"this":[133],"paper,":[134],"we":[135],"present":[136],"two":[138],"stage":[139],"approach":[140],"operations.":[144],"A":[145],"global":[146],"RRT":[147,184],"path":[148],"planner":[149,164],"used":[151],"explore":[153],"possible":[157],"configurations,":[159],"while":[160],"local":[162],"push":[163],"makes":[165],"use":[166],"predictive":[168],"interactions,":[172],"pushes":[177],"from":[182],"one":[183],"node":[185],"next.":[188],"effectiveness":[190],"demonstrated":[195],"simulation":[197],"experiments":[198],"robot":[202],"body":[207],"3D":[210],"transformations":[211],"applying":[213],"sequence":[216],"simple":[218],"pushes.":[221]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
