{"id":"https://openalex.org/W2910260538","doi":"https://doi.org/10.1109/iros.2018.8594072","title":"Discrete Configuration Space Methods for Determining Modular Connector Area of Acceptance in Higher Dimensions","display_name":"Discrete Configuration Space Methods for Determining Modular Connector Area of Acceptance in Higher Dimensions","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910260538","doi":"https://doi.org/10.1109/iros.2018.8594072","mag":"2910260538"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594072","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5057481559","display_name":"Nick Eckenstein","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nick Eckenstein","raw_affiliation_strings":["Dept. of Mechanical Engineering and Applied Mechanics, Univ. of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering and Applied Mechanics, Univ. of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["Dept. of Mechanical Engineering and Applied Mechanics, Univ. of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering and Applied Mechanics, Univ. of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5057481559"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":0.1672,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.52852484,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"41","issue":null,"first_page":"430","last_page":"435"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12288","display_name":"Optimization and Search Problems","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9894000291824341,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.6781548261642456},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5742732882499695},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5472348928451538},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.46975091099739075},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4652356207370758},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.46164363622665405},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.4499378204345703},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.42650890350341797},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.42638736963272095},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4102047085762024},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3771160840988159},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28264671564102173},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13838818669319153}],"concepts":[{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.6781548261642456},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5742732882499695},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5472348928451538},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.46975091099739075},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4652356207370758},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.46164363622665405},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.4499378204345703},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.42650890350341797},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.42638736963272095},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4102047085762024},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3771160840988159},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28264671564102173},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13838818669319153},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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":1,"locations":[{"id":"doi:10.1109/iros.2018.8594072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594072","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1524886571","https://openalex.org/W1554588678","https://openalex.org/W1652775531","https://openalex.org/W1968751064","https://openalex.org/W1970661689","https://openalex.org/W1971632690","https://openalex.org/W2010792042","https://openalex.org/W2014361451","https://openalex.org/W2018274017","https://openalex.org/W2023808821","https://openalex.org/W2034469604","https://openalex.org/W2079218888","https://openalex.org/W2083188966","https://openalex.org/W2091035491","https://openalex.org/W2116707521","https://openalex.org/W2124260943","https://openalex.org/W2139699368","https://openalex.org/W2140355478","https://openalex.org/W2145343439","https://openalex.org/W2775418063","https://openalex.org/W6642904377"],"related_works":["https://openalex.org/W2357657342","https://openalex.org/W2153432761","https://openalex.org/W1580144672","https://openalex.org/W2794103424","https://openalex.org/W2152623100","https://openalex.org/W4245435724","https://openalex.org/W2142042635","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972"],"abstract_inverted_index":{"Physical":[0],"connectors":[1,189],"with":[2,68],"self-aligning":[3,25,69],"geometry":[4,26,70],"aid":[5],"in":[6,35,190,202,212],"the":[7,39,54,87,98,104,117,123,133,149,185],"docking":[8,45,131],"process":[9],"for":[10,52,61,137,187,197],"many":[11],"robotic":[12,19],"and":[13,21,115,183,192,204],"automatic":[14],"control":[15],"systems":[16,198],"such":[17],"as":[18,111],"self-reconfiguration":[20],"air-to-air":[22],"refueling.":[23],"This":[24],"provides":[27],"a":[28,49,62,95,152,156],"wider":[29],"range":[30,56],"of":[31,59,64,72,97,100,125,151,165],"acceptable":[32],"error":[33,55],"tolerance":[34],"relative":[36],"pose":[37],"between":[38,103],"two":[40,105],"rigid":[41,65],"objects,":[42],"increasing":[43],"successful":[44],"chances.":[46],"We":[47,170],"present":[48,171],"new":[50],"method":[51,83],"computing":[53],"(or":[57],"area":[58],"acceptance)":[60],"pair":[63],"connector":[66],"objects":[67],"capable":[71],"higher":[73],"dimensional":[74],"analysis":[75],"which":[76,92],"was":[77],"previously":[78],"limited":[79],"to":[80,113,130,179,207],"three.":[81],"The":[82],"is":[84,121,132,145],"based":[85,174],"on":[86,155,175],"configuration":[88,120,141],"space":[89,99,142],"obstacle":[90],"model,":[91],"gives":[93],"us":[94],"representation":[96],"contact":[101],"states":[102],"objects.":[106],"Using":[107],"an":[108,138,172],"approach":[109],"direction":[110],"analogous":[112],"gravity,":[114],"assuming":[116],"target":[118,134],"docked":[119],"stable,":[122],"set":[124],"misaligned":[126],"points":[127],"that":[128,148],"lead":[129],"configuration's":[135],"watershed":[136,150,182],"arbitrarily":[139],"dimensioned":[140],"obstacle.":[143],"It":[144],"well":[146],"known":[147],"height":[153],"map":[154],"discrete":[157],"grid":[158],"can":[159],"be":[160],"found":[161],"using":[162],"any":[163],"number":[164],"algorithms":[166],"from":[167],"image":[168],"segmentation.":[169],"implementation":[173],"Meyer's":[176],"flooding":[177],"algorithm":[178],"determine":[180],"this":[181],"measure":[184],"AA":[186],"simple":[188],"2D":[191],"3D.":[193],"Results":[194],"are":[195],"presented":[196],"including":[199],"unconstrained":[200],"motion":[201,205],"SE(2)":[203],"constrained":[206],"four":[208],"dimensions":[209],"(ie.":[210],"x,y,z,pitch)":[211],"SE(3).":[213]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
