{"id":"https://openalex.org/W2053044028","doi":"https://doi.org/10.1109/iros.2013.6697176","title":"Sigma hulls for Gaussian belief space planning for imprecise articulated robots amid obstacles","display_name":"Sigma hulls for Gaussian belief space planning for imprecise articulated robots amid obstacles","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2053044028","doi":"https://doi.org/10.1109/iros.2013.6697176","mag":"2053044028"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6697176","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697176","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/A5100644093","display_name":"Alex Pui\u2010Wai Lee","orcid":"https://orcid.org/0000-0002-4120-155X"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alex Lee","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA#TAB#","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102881531","display_name":"Yan Duan","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan Duan","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA#TAB#","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071959206","display_name":"Sachin Patil","orcid":"https://orcid.org/0000-0002-6247-2295"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sachin Patil","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA#TAB#","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009037058","display_name":"John Schulman","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Schulman","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA#TAB#","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008996507","display_name":"Zoe McCarthy","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zoe McCarthy","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA#TAB#","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108617083","display_name":"Jur van den Berg","orcid":null},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jur van den Berg","raw_affiliation_strings":["School of Computing, University of Utah, Salt Lake Citv, UT, USA","[Sch. of Comput., Univ. of Utah, Salt Lake City, UT, USA]"],"affiliations":[{"raw_affiliation_string":"School of Computing, University of Utah, Salt Lake Citv, UT, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"[Sch. of Comput., Univ. of Utah, Salt Lake City, UT, USA]","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010019244","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0001-6747-9499"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA#TAB#","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049349154","display_name":"Pieter Abbeel","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pieter Abbeel","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA#TAB#","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100644093"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":3.3181,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.93260622,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"12","issue":null,"first_page":"5660","last_page":"5667"},"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":0.9980000257492065,"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":0.9926000237464905,"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/robot","display_name":"Robot","score":0.6708837747573853},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6461137533187866},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5783267617225647},{"id":"https://openalex.org/keywords/convex-hull","display_name":"Convex hull","score":0.5355757474899292},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47345206141471863},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.472788542509079},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4570252597332001},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4389340877532959},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4387323558330536},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.43248677253723145},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.4260275065898895},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33585652709007263},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.3174775242805481},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31323736906051636},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.2284616231918335}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6708837747573853},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6461137533187866},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5783267617225647},{"id":"https://openalex.org/C206194317","wikidata":"https://www.wikidata.org/wiki/Q1138624","display_name":"Convex hull","level":3,"score":0.5355757474899292},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47345206141471863},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.472788542509079},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4570252597332001},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4389340877532959},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4387323558330536},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.43248677253723145},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.4260275065898895},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33585652709007263},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.3174775242805481},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31323736906051636},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2284616231918335},{"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2013.6697176","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697176","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.387.7194","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.387.7194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.berkeley.edu/~pabbeel/papers/2013-IROS-sigmahulls-final.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.434.6163","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.434.6163","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.unc.edu/~sachin/papers/Lee-IROS2013.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1523888516","display_name":null,"funder_award_id":"FA9550-","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"},{"id":"https://openalex.org/G5809100787","display_name":null,"funder_award_id":"FA9550","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"},{"id":"https://openalex.org/G6071252945","display_name":null,"funder_award_id":"FA9550-12","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"},{"id":"https://openalex.org/G6894402473","display_name":null,"funder_award_id":"Fellowship","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7999580237","display_name":null,"funder_award_id":"FA9550-12-1","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8570172948","display_name":"NRI-Large: Collaborative Research: Multilateral Manipulation by Human-Robot Collaborative Systems","funder_award_id":"1227536","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8968797657","display_name":null,"funder_award_id":"IIS-1227536","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W45542973","https://openalex.org/W75550170","https://openalex.org/W80905443","https://openalex.org/W141244604","https://openalex.org/W292508636","https://openalex.org/W1516027685","https://openalex.org/W1529817735","https://openalex.org/W2002201291","https://openalex.org/W2020934227","https://openalex.org/W2032100464","https://openalex.org/W2053833381","https://openalex.org/W2095342761","https://openalex.org/W2098432798","https://openalex.org/W2099430963","https://openalex.org/W2103052138","https://openalex.org/W2104778363","https://openalex.org/W2113889826","https://openalex.org/W2122410182","https://openalex.org/W2132004142","https://openalex.org/W2145938889","https://openalex.org/W2151910862","https://openalex.org/W2164429173","https://openalex.org/W2166316739","https://openalex.org/W2168359464","https://openalex.org/W2169708080","https://openalex.org/W2221321873","https://openalex.org/W2293883387","https://openalex.org/W2296319761","https://openalex.org/W2623293810","https://openalex.org/W3022404379","https://openalex.org/W3102923851","https://openalex.org/W4232554840","https://openalex.org/W4250589301","https://openalex.org/W4255985591","https://openalex.org/W6601863597","https://openalex.org/W6603232429","https://openalex.org/W6631664056","https://openalex.org/W6655473528","https://openalex.org/W6674541415","https://openalex.org/W6674995601","https://openalex.org/W6675685508","https://openalex.org/W6677279966","https://openalex.org/W6697150650"],"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/W4308217561","https://openalex.org/W2134348961","https://openalex.org/W2115192598","https://openalex.org/W2364686755"],"abstract_inverted_index":{"In":[0,83],"many":[1],"home":[2],"and":[3,16,23,28,42,108,151,167,190,198,216],"service":[4],"applications,":[5],"an":[6,173],"emerging":[7],"class":[8],"of":[9,44,119,124,214],"articulated":[10,94,193],"robots":[11,75,95],"such":[12,45,54],"as":[13,56,79],"the":[14,31,88,97,117,130,138,145,154,164,205,212],"Raven":[15],"Baxter":[17],"trade":[18],"off":[19],"precision":[20],"in":[21,37,48,111,153,180],"actuation":[22,197],"sensing":[24],"to":[25,29,35,72,92,129,156,221],"reduce":[26,30,211],"costs":[27],"potential":[32],"for":[33,182,185,225],"injury":[34],"humans":[36],"their":[38],"workspaces.":[39],"For":[40],"planning":[41,47,66,107,175,183],"control":[43],"robots,":[46],"belief":[49,64,89,113],"ssigma":[50],"hullpace,":[51],"i.e.,":[52],"modeling":[53],"problems":[55],"POMDPs,":[57],"has":[58],"shown":[59],"great":[60],"promise":[61],"but":[62],"existing":[63],"space":[65,90],"methods":[67],"have":[68],"primarily":[69],"been":[70],"applied":[71],"cases":[73],"where":[74,96],"can":[76,99,209],"be":[77,100],"approximated":[78],"points":[80,135],"or":[81],"spheres.":[82],"this":[84],"paper,":[85],"we":[86,115],"extend":[87],"framework":[91,208],"treat":[93],"linkage":[98],"decomposed":[101],"into":[102],"convex":[103,122],"components.":[104],"To":[105],"allow":[106],"collision":[109,159,215],"avoidance":[110,160],"Gaussian":[112],"spaces,":[114],"introduce":[116],"concept":[118],"sigma":[120,131,149,206],"hulls:":[121],"hulls":[123,150],"robot":[125,189,194],"links":[126],"transformed":[127],"according":[128],"standard":[132],"deviation":[133],"boundary":[134],"generated":[136],"by":[137],"Unscented":[139],"Kalman":[140],"filter":[141],"(UKF).":[142],"We":[143,177],"characterize":[144],"signed":[146],"distances":[147],"between":[148],"obstacles":[152],"workspace":[155],"formulate":[157],"efficient":[158,219],"constraints":[161],"compatible":[162],"with":[163,195],"Gilbert-Johnson-Keerthi":[165],"(GKJ)":[166],"Expanding":[168],"Polytope":[169],"Algorithms":[170],"(EPA)":[171],"within":[172],"optimization-based":[174],"framework.":[176],"report":[178],"results":[179],"simulation":[181],"motions":[184],"a":[186,191],"4-DOF":[187],"planar":[188],"7-DOF":[192],"imprecise":[196],"inaccurate":[199],"sensors.":[200],"These":[201],"experiments":[202],"suggest":[203],"that":[204],"hull":[207],"significantly":[210],"probability":[213],"is":[217],"computationally":[218],"enough":[220],"permit":[222],"iterative":[223],"re-planning":[224],"model":[226],"predictive":[227],"control.":[228]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}