{"id":"https://openalex.org/W2562222449","doi":"https://doi.org/10.1109/iros.2016.7759090","title":"Task level robot programming using prioritized non-linear inequality constraints","display_name":"Task level robot programming using prioritized non-linear inequality constraints","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2562222449","doi":"https://doi.org/10.1109/iros.2016.7759090","mag":"2562222449"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759090","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5048364766","display_name":"Nikhil Somani","orcid":"https://orcid.org/0000-0002-8146-0556"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nikhil Somani","raw_affiliation_strings":["TUM CREATE, 1 CREATE WAY, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TUM CREATE, 1 CREATE WAY, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003833130","display_name":"Markus Rickert","orcid":"https://orcid.org/0000-0001-6264-0888"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Rickert","raw_affiliation_strings":["An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027161574","display_name":"Andre Gaschler","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andre Gaschler","raw_affiliation_strings":["An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101500657","display_name":"Caixia Cai","orcid":"https://orcid.org/0000-0002-3568-1227"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Caixia Cai","raw_affiliation_strings":["Technische Universitat M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universitat M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001117578","display_name":"Alexander Perzylo","orcid":"https://orcid.org/0000-0002-5881-3608"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Perzylo","raw_affiliation_strings":["An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Technische Universitat M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universitat M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5104,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.93077422,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"430","last_page":"437"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976000189781189,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/workcell","display_name":"Workcell","score":0.9357578754425049},{"id":"https://openalex.org/keywords/constraint-programming","display_name":"Constraint programming","score":0.6666693091392517},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6453927755355835},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.6299486756324768},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6088840961456299},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5903445482254028},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4902692139148712},{"id":"https://openalex.org/keywords/linear-inequality","display_name":"Linear inequality","score":0.45366010069847107},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4443187117576599},{"id":"https://openalex.org/keywords/constraint-logic-programming","display_name":"Constraint logic programming","score":0.4345313608646393},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3925894796848297},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.3628016412258148},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30150845646858215},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1608395278453827},{"id":"https://openalex.org/keywords/inequality","display_name":"Inequality","score":0.12246781587600708},{"id":"https://openalex.org/keywords/stochastic-programming","display_name":"Stochastic programming","score":0.11942106485366821},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09584325551986694}],"concepts":[{"id":"https://openalex.org/C2781411174","wikidata":"https://www.wikidata.org/wiki/Q8034662","display_name":"Workcell","level":3,"score":0.9357578754425049},{"id":"https://openalex.org/C173404611","wikidata":"https://www.wikidata.org/wiki/Q528588","display_name":"Constraint programming","level":3,"score":0.6666693091392517},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6453927755355835},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.6299486756324768},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6088840961456299},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5903445482254028},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4902692139148712},{"id":"https://openalex.org/C84135550","wikidata":"https://www.wikidata.org/wiki/Q3154022","display_name":"Linear inequality","level":3,"score":0.45366010069847107},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4443187117576599},{"id":"https://openalex.org/C176783269","wikidata":"https://www.wikidata.org/wiki/Q5164378","display_name":"Constraint logic programming","level":4,"score":0.4345313608646393},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3925894796848297},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.3628016412258148},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30150845646858215},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1608395278453827},{"id":"https://openalex.org/C45555294","wikidata":"https://www.wikidata.org/wiki/Q28113351","display_name":"Inequality","level":2,"score":0.12246781587600708},{"id":"https://openalex.org/C137631369","wikidata":"https://www.wikidata.org/wiki/Q7617831","display_name":"Stochastic programming","level":2,"score":0.11942106485366821},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09584325551986694},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759090","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323383","display_name":"Technische Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/02kkvpp62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W205345260","https://openalex.org/W1451881698","https://openalex.org/W1582076359","https://openalex.org/W1874528982","https://openalex.org/W1987706960","https://openalex.org/W2019606703","https://openalex.org/W2036264009","https://openalex.org/W2049410986","https://openalex.org/W2086736954","https://openalex.org/W2099893201","https://openalex.org/W2112474089","https://openalex.org/W2126633911","https://openalex.org/W2141450827","https://openalex.org/W2148933384","https://openalex.org/W2157783419","https://openalex.org/W2165623742","https://openalex.org/W2166316739","https://openalex.org/W2169360335","https://openalex.org/W2169564405","https://openalex.org/W2172091886","https://openalex.org/W2198516116","https://openalex.org/W2216968212","https://openalex.org/W2220084042","https://openalex.org/W2289973316","https://openalex.org/W2293883387","https://openalex.org/W2562809435","https://openalex.org/W2604752134","https://openalex.org/W2751788010","https://openalex.org/W6639275550","https://openalex.org/W6736170308","https://openalex.org/W6743389038"],"related_works":["https://openalex.org/W1486916474","https://openalex.org/W1531664660","https://openalex.org/W1597500234","https://openalex.org/W1567852657","https://openalex.org/W2097415053","https://openalex.org/W1551947503","https://openalex.org/W1496100162","https://openalex.org/W2495969191","https://openalex.org/W1559281853","https://openalex.org/W2375345344"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,19,43,90,119],"framework":[6,15],"for":[7,48,128],"prioritized":[8],"constraint-based":[9],"specification":[10],"of":[11,27,39,92,106,134],"robot":[12,40,58],"tasks.":[13],"This":[14],"is":[16,34,46,118,138],"integrated":[17],"with":[18,71],"cognitive":[20],"robotic":[21,156],"system":[22],"based":[23],"on":[24],"semantic":[25],"models":[26],"processes,":[28],"objects,":[29],"and":[30,76,79,86,99,114,131],"workcells.":[31],"The":[32,146],"target":[33],"to":[35,140,152,158,163],"enable":[36],"intuitive":[37],"(re-)programming":[38],"tasks,":[41],"in":[42,53,81,103],"way":[44],"that":[45,95],"suitable":[47],"non-expert":[49],"users":[50],"typically":[51],"found":[52],"SMEs.":[54],"Using":[55],"CAD":[56],"semantics,":[57],"tasks":[59],"are":[60,69],"specified":[61,127],"as":[62],"geometric":[63,109],"inter-relational":[64],"constraints.":[65,116,145],"During":[66],"execution,":[67],"these":[68],"combined":[70],"constraints":[72,137],"from":[73],"the":[74,77,104,129,132,142],"environment":[75],"workcell,":[78],"solved":[80],"real-time.":[82],"Our":[83],"constraint":[84,93],"model":[85],"solving":[87],"approach":[88,121,148],"supports":[89],"variety":[91],"functions":[94],"can":[96,125],"be":[97,126],"non-linear":[98],"also":[100],"include":[101],"bounds":[102],"form":[105],"inequalities,":[107],"e.g.,":[108],"inter-relations,":[110],"distance,":[111],"collision":[112],"avoidance":[113],"posture":[115],"It":[117],"hierarchical":[120],"where":[122],"priority":[123,136,144],"levels":[124],"constraints,":[130],"nullspace":[133],"higher":[135],"exploited":[139],"optimize":[141],"lower":[143],"presented":[147],"has":[149],"been":[150],"applied":[151],"several":[153],"typical":[154],"industrial":[155],"use-cases":[157],"highlight":[159],"its":[160],"advantages":[161],"compared":[162],"other":[164],"state-of-the-art":[165],"approaches.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}