{"id":"https://openalex.org/W2062069716","doi":"https://doi.org/10.1109/iros.2012.6386128","title":"A planning method for efficient mobile manipulation considering ambiguity","display_name":"A planning method for efficient mobile manipulation considering ambiguity","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2062069716","doi":"https://doi.org/10.1109/iros.2012.6386128","mag":"2062069716"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386128","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386128","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":"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/A5004190563","display_name":"Muhammad Attamimi","orcid":"https://orcid.org/0000-0002-0829-7748"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Muhammad Attamimi","raw_affiliation_strings":["The Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Chofu, Tokyo, Japan","Dept. of Mechanical Eng. and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka Chofu-shi, Tokyo, 182-8585 Japan"],"affiliations":[{"raw_affiliation_string":"The Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Chofu, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]},{"raw_affiliation_string":"Dept. of Mechanical Eng. and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka Chofu-shi, Tokyo, 182-8585 Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035752030","display_name":"Keisuke Ito","orcid":"https://orcid.org/0000-0002-6702-9735"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keisuke Ito","raw_affiliation_strings":["The Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Chofu, Tokyo, Japan","Dept. of Mechanical Eng. and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka Chofu-shi, Tokyo, 182-8585 Japan"],"affiliations":[{"raw_affiliation_string":"The Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Chofu, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]},{"raw_affiliation_string":"Dept. of Mechanical Eng. and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka Chofu-shi, Tokyo, 182-8585 Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073741458","display_name":"Tomoaki Nakamura","orcid":"https://orcid.org/0000-0002-3183-4599"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoaki Nakamura","raw_affiliation_strings":["The Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Chofu, Tokyo, Japan","Dept. of Mechanical Eng. and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka Chofu-shi, Tokyo, 182-8585 Japan"],"affiliations":[{"raw_affiliation_string":"The Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Chofu, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]},{"raw_affiliation_string":"Dept. of Mechanical Eng. and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka Chofu-shi, Tokyo, 182-8585 Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103002593","display_name":"Takayuki Nagai","orcid":null},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takayuki Nagai","raw_affiliation_strings":["The Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Chofu, Tokyo, Japan","Dept. of Mechanical Eng. and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka Chofu-shi, Tokyo, 182-8585 Japan"],"affiliations":[{"raw_affiliation_string":"The Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Chofu, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]},{"raw_affiliation_string":"Dept. of Mechanical Eng. and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka Chofu-shi, Tokyo, 182-8585 Japan","institution_ids":["https://openalex.org/I20529979"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5004190563"],"corresponding_institution_ids":["https://openalex.org/I20529979"],"apc_list":null,"apc_paid":null,"fwci":0.5491,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.68702244,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"965","last_page":"972"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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/reachability","display_name":"Reachability","score":0.8172405958175659},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7795826196670532},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.733396053314209},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.7267478704452515},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7105227708816528},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7024664282798767},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6517885327339172},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6139965057373047},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5674881935119629},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5654775500297546},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5367459058761597},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4574105441570282},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4265156686306},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.21974340081214905},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11436548829078674},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10379183292388916}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.8172405958175659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7795826196670532},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.733396053314209},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.7267478704452515},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7105227708816528},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7024664282798767},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6517885327339172},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6139965057373047},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5674881935119629},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5654775500297546},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5367459058761597},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4574105441570282},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4265156686306},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.21974340081214905},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11436548829078674},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10379183292388916},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6386128","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386128","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W1554504841","https://openalex.org/W2001611058","https://openalex.org/W2038276547","https://openalex.org/W2083606815","https://openalex.org/W2106215490","https://openalex.org/W2119605622","https://openalex.org/W2122287758","https://openalex.org/W2167542173","https://openalex.org/W3141683052"],"related_works":["https://openalex.org/W2093507260","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2562628082","https://openalex.org/W2378318959","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2083994890","https://openalex.org/W2157678966"],"abstract_inverted_index":{"In":[0],"this":[1,124],"study,":[2],"we":[3,67,126],"propose":[4,68],"a":[5,26,32,155,167],"system":[6,210],"to":[7,10,14,19,41,153,188,199],"enable":[8],"robots":[9],"navigate":[11],"more":[12],"efficiently":[13],"target":[15,33,114,138],"objects":[16],"in":[17,60],"order":[18],"carry":[20],"out":[21],"mobile":[22,196],"manipulation":[23,197],"tasks.":[24],"Because":[25],"robot":[27,57],"arm":[28,76,98],"has":[29],"limited":[30],"reach,":[31],"object":[34,43,115,129,139,160,176],"cannot":[35],"be":[36,100,164,179],"grasped":[37],"if":[38],"the":[39,42,45,48,56,69,75,94,97,110,113,134,137,142,146,159,173,183,201,208],"distance":[40],"exceeds":[44],"reach.":[46],"At":[47],"same":[49],"time,":[50],"navigation":[51,79,86,91],"errors":[52,87,92],"may":[53],"increase":[54],"as":[55],"moves":[58],"around":[59],"an":[61,128],"environment.":[62],"To":[63,121],"mitigate":[64],"these":[65,104],"problems,":[66],"use":[70],"of":[71,85,96,136,170],"maps":[72],"that":[73,112,132,207],"express":[74],"reachability":[77],"and":[78,88,190],"reachability.":[80],"Places":[81],"with":[82,123,166],"minimum":[83],"probability":[84],"maximum":[89],"tolerable":[90],"for":[93],"reach":[95],"can":[99,163,178,211],"determined":[101],"by":[102,172,181],"integrating":[103],"two":[105],"maps.":[106],"We":[107,193],"also":[108],"consider":[109],"fact":[111],"position":[116],"is":[117,148,151],"not":[118],"always":[119],"known.":[120],"cope":[122],"problem,":[125],"introduce":[127],"existence":[130],"map":[131],"represents":[133],"ambiguity":[135,147],"position,":[140],"considering":[141],"past":[143],"position.":[144],"If":[145],"large,":[149],"it":[150],"possible":[152],"select":[154],"place":[156],"from":[157,186],"where":[158],"searching":[161,177,187],"task":[162,184],"performed":[165],"wide":[168],"angle":[169],"view":[171],"robot.":[174],"Efficient":[175],"achieved":[180],"changing":[182],"objective":[185],"grasping":[189],"vice":[191],"versa.":[192],"conducted":[194],"some":[195],"tasks":[198,214],"evaluate":[200],"proposed":[202,209],"method.":[203],"The":[204],"results":[205],"showed":[206],"perform":[212],"such":[213],"effectively.":[215]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
