{"id":"https://openalex.org/W2073097405","doi":"https://doi.org/10.1109/iros.2013.6696512","title":"Construction and use of roadmaps that incorporate workspace modeling errors","display_name":"Construction and use of roadmaps that incorporate workspace modeling errors","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2073097405","doi":"https://doi.org/10.1109/iros.2013.6696512","mag":"2073097405"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696512","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696512","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5038729901","display_name":"Nick Malone","orcid":null},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nick Malone","raw_affiliation_strings":["Department of Computer Science, University of New Mexico, Albuquerque, NM","Department of Computer Science University of New Mexico Albuquerque NM USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of New Mexico, Albuquerque, NM","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"Department of Computer Science University of New Mexico Albuquerque NM USA","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079697685","display_name":"Kasra Manavi","orcid":null},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kasra Manavi","raw_affiliation_strings":["Department of Computer Science, University of New Mexico, Albuquerque, NM","Department of Computer Science University of New Mexico Albuquerque NM USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of New Mexico, Albuquerque, NM","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"Department of Computer Science University of New Mexico Albuquerque NM USA","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030412645","display_name":"John Wood","orcid":null},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Wood","raw_affiliation_strings":["Department of Computer Science, University of New Mexico, Albuquerque, NM","Department of Computer Science University of New Mexico Albuquerque NM USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of New Mexico, Albuquerque, NM","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"Department of Computer Science University of New Mexico Albuquerque NM USA","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060753774","display_name":"Lydia Tapia","orcid":"https://orcid.org/0000-0002-7822-7091"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lydia Tapia","raw_affiliation_strings":["Department of Computer Science, University of New Mexico, Albuquerque, NM","Department of Computer Science University of New Mexico Albuquerque NM USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of New Mexico, Albuquerque, NM","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"Department of Computer Science University of New Mexico Albuquerque NM USA","institution_ids":["https://openalex.org/I169521973"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5038729901"],"corresponding_institution_ids":["https://openalex.org/I169521973"],"apc_list":null,"apc_paid":null,"fwci":1.3608,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.84063155,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2","issue":null,"first_page":"1264","last_page":"1271"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9962000250816345,"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":0.9650999903678894,"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/workspace","display_name":"Workspace","score":0.8977956771850586},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.8609946966171265},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6984439492225647},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6942628026008606},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6119059324264526},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5883411169052124},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.557823896408081},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.49741247296333313},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4865681231021881},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4774485230445862},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4497596025466919},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3221312463283539},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2660694420337677}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8977956771850586},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.8609946966171265},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6984439492225647},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6942628026008606},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6119059324264526},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5883411169052124},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.557823896408081},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.49741247296333313},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4865681231021881},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4774485230445862},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4497596025466919},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3221312463283539},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2660694420337677},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696512","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696512","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6100000143051147}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310632","display_name":"Center for Evolutionary and Theoretical Immunology","ror":"https://ror.org/05fs6jp91"},{"id":"https://openalex.org/F4320338291","display_name":"Sandia National Laboratories","ror":"https://ror.org/01apwpt12"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1187244281","https://openalex.org/W1495392417","https://openalex.org/W1501749417","https://openalex.org/W1586173270","https://openalex.org/W1596122134","https://openalex.org/W1756618330","https://openalex.org/W1937587174","https://openalex.org/W1967061262","https://openalex.org/W1991328253","https://openalex.org/W2012746036","https://openalex.org/W2036016432","https://openalex.org/W2053833381","https://openalex.org/W2092507038","https://openalex.org/W2117828438","https://openalex.org/W2118571526","https://openalex.org/W2121272499","https://openalex.org/W2124258820","https://openalex.org/W2124348791","https://openalex.org/W2128353551","https://openalex.org/W2128990851","https://openalex.org/W2129626945","https://openalex.org/W2144147851","https://openalex.org/W2144481803","https://openalex.org/W2149780310","https://openalex.org/W2152536965","https://openalex.org/W2152724075","https://openalex.org/W2163178194","https://openalex.org/W2164696537","https://openalex.org/W2167805536","https://openalex.org/W2169528473","https://openalex.org/W2509493982","https://openalex.org/W2543866692","https://openalex.org/W3115270213","https://openalex.org/W3144510831","https://openalex.org/W6627862999","https://openalex.org/W6629573421","https://openalex.org/W6629857507","https://openalex.org/W6634982934","https://openalex.org/W6635684566","https://openalex.org/W6637784466","https://openalex.org/W6678097933","https://openalex.org/W6679481333","https://openalex.org/W6682401769","https://openalex.org/W6684067831","https://openalex.org/W6724925041"],"related_works":["https://openalex.org/W2107702345","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W4381746183","https://openalex.org/W2389713625","https://openalex.org/W2134348961","https://openalex.org/W4308217561","https://openalex.org/W2115192598","https://openalex.org/W2160419405"],"abstract_inverted_index":{"Probabilistic":[0],"Roadmap":[1],"Methods":[2],"(PRMs)":[3],"have":[4],"been":[5],"shown":[6],"to":[7,46,119,238,241,245,257],"work":[8,21],"well":[9],"at":[10],"solving":[11],"high":[12,183],"Degree":[13],"of":[14,30,40,107,115,134,148,195,216,235,250],"Freedom":[15],"(DoF)":[16],"motion":[17],"planning":[18,152],"problems.":[19],"They":[20],"by":[22,87],"constructing":[23],"a":[24,49,62,113,124,141,222],"roadmap":[25,65,102,122,252,259],"that":[26,67,84,177,200],"approximates":[27],"the":[28,41,76,101,105,131,135,138,145,192,214,229,233,243,248,251],"topology":[29],"collision-free":[31],"configuration":[32,51],"space.":[33],"However,":[34],"this":[35,58,120],"requires":[36],"an":[37,91,219],"accurate":[38],"model":[39,93],"robot's":[42],"workspace":[43],"in":[44,53,71,75,178],"order":[45],"test":[47,247],"if":[48],"sampled":[50],"is":[52,98],"collision":[54,109,237],"or":[55],"not.":[56],"In":[57],"paper,":[59],"we":[60,212,231],"present":[61],"method":[63],"for":[64,154,167,187,205],"construction":[66],"can":[68,81],"be":[69,82],"used":[70],"workspaces":[72],"with":[73,191],"uncertainties":[74],"model.":[77],"For":[78],"example,":[79],"these":[80,201],"inaccuracies":[83],"are":[85,203],"caused":[86],"sensor":[88],"error":[89],"when":[90],"environment":[92],"was":[94],"constructed.":[95],"The":[96],"uncertainty":[97],"encoded":[99],"into":[100],"directly":[103],"through":[104],"incorporation":[106],"non-binary":[108],"detection":[110],"values,":[111],"e.g.,":[112],"probability":[114],"collision.":[116],"We":[117,143,175,198],"refer":[118],"new":[121],"as":[123],"Safety-PRM":[125,149,181,217],"because":[126],"it":[127],"allows":[128],"tunability":[129],"between":[130],"expected":[132,236],"safety":[133,190,208,249],"robot":[136,207,239,244],"and":[137,161,171,189,209,253],"distance":[139],"along":[140],"path.":[142],"compare":[144],"computational":[146,169,196],"cost":[147,170],"against":[150],"two":[151],"methods":[153],"environments":[155],"without":[156],"modeling":[157],"errors,":[158],"basic":[159],"PRM":[160,164],"Medial":[162],"Axis":[163],"(MAPRM),":[165],"known":[166],"low":[168],"maximizing":[172],"clearance,":[173],"respectively.":[174],"demonstrate":[176,213,232],"most":[179],"cases,":[180],"produces":[182],"quality":[184],"paths":[185,202],"maximized":[186],"clearance":[188],"least":[193],"amount":[194],"cost.":[197],"show":[199],"tunable":[204],"both":[206],"clearance.":[210],"Finally,":[211],"applicability":[215],"on":[218],"experimental":[220],"system,":[221],"Barrett":[223],"Whole":[224],"Arm":[225],"Manipulator":[226],"(WAM).":[227],"On":[228],"WAM,":[230],"mapping":[234],"speeds":[240],"enable":[242],"physically":[246],"use":[254],"torque":[255],"estimation":[256],"make":[258],"modifications.":[260]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
