{"id":"https://openalex.org/W2910850445","doi":"https://doi.org/10.1109/iros.2018.8594492","title":"Affordance Wayfields for Task and Motion Planning","display_name":"Affordance Wayfields for Task and Motion Planning","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910850445","doi":"https://doi.org/10.1109/iros.2018.8594492","mag":"2910850445"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594492","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/A5026863248","display_name":"Troy McMahon","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Troy McMahon","raw_affiliation_strings":["Department of Electrical Engineering Computer Science, University of Michigan, Ann Arbor, MI"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering Computer Science, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071106238","display_name":"Odest Chadwicke Jenkins","orcid":"https://orcid.org/0000-0003-3750-7334"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Odest Chadwicke Jenkins","raw_affiliation_strings":["Department of Electrical Engineering Computer Science, University of Michigan, Ann Arbor, MI"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering Computer Science, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050205557","display_name":"Nancy M. Amato","orcid":"https://orcid.org/0000-0001-5817-5290"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nancy Amato","raw_affiliation_strings":["Department of Computer Science and Engineering, Texas A&M University, College Station, TX"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Texas A&M University, College Station, TX","institution_ids":["https://openalex.org/I91045830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5026863248"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":0.2089,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.57789385,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"36","issue":null,"first_page":"2955","last_page":"2962"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.9781986474990845},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.718377947807312},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6164394021034241},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6049337387084961},{"id":"https://openalex.org/keywords/fetch","display_name":"Fetch","score":0.5851905345916748},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5734857320785522},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5551964044570923},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5427922606468201},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5021352767944336},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4679167568683624},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45277243852615356},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15815261006355286},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.14013296365737915}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.9781986474990845},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.718377947807312},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6164394021034241},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6049337387084961},{"id":"https://openalex.org/C131918245","wikidata":"https://www.wikidata.org/wiki/Q1409090","display_name":"Fetch","level":2,"score":0.5851905345916748},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5734857320785522},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5551964044570923},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5427922606468201},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5021352767944336},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4679167568683624},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45277243852615356},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15815261006355286},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.14013296365737915},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2018.8594492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594492","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"},{"id":"pmh:oai:pure.atira.dk:publications/abb5fdc1-d8d6-4e8c-855f-88ed9878e4d5","is_oa":false,"landing_page_url":"https://vbn.aau.dk/da/publications/abb5fdc1-d8d6-4e8c-855f-88ed9878e4d5","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mcmahon, T, Jenkins, O C & Amato, N 2018, Affordance Wayfields for Task and Motion Planning. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018., 8594492, IEEE Signal Processing Society, IEEE International Conference on Intelligent Robots and Systems, pp. 2955-2962, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, 01/10/2018. https://doi.org/10.1109/IROS.2018.8594492","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.800000011920929,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W26690283","https://openalex.org/W1522302154","https://openalex.org/W1971086298","https://openalex.org/W1994442991","https://openalex.org/W1999579943","https://openalex.org/W2019965290","https://openalex.org/W2027175684","https://openalex.org/W2060775765","https://openalex.org/W2070683816","https://openalex.org/W2072723786","https://openalex.org/W2102783898","https://openalex.org/W2103120971","https://openalex.org/W2107571018","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2141841102","https://openalex.org/W2142224528","https://openalex.org/W2142255363","https://openalex.org/W2145221543","https://openalex.org/W2161808137","https://openalex.org/W2161819990","https://openalex.org/W2293883387","https://openalex.org/W2294748366","https://openalex.org/W2337392266","https://openalex.org/W2468062401","https://openalex.org/W2548498802","https://openalex.org/W2576665611","https://openalex.org/W2605206714","https://openalex.org/W2950752815","https://openalex.org/W2963338349","https://openalex.org/W6634616096","https://openalex.org/W6680920676"],"related_works":["https://openalex.org/W3134384012","https://openalex.org/W4376632272","https://openalex.org/W4379377990","https://openalex.org/W2157094900","https://openalex.org/W1965308946","https://openalex.org/W2905842019","https://openalex.org/W3087481565","https://openalex.org/W3014080459","https://openalex.org/W1636820063","https://openalex.org/W3186584605"],"abstract_inverted_index":{"Affordances":[0],"provide":[1],"a":[2,6,34,61,84,136,144],"natural":[3],"means":[4],"for":[5,46,108],"robot":[7],"to":[8,24,103,128],"describe":[9],"its":[10],"agency":[11],"as":[12,50,121,134],"actions":[13],"it":[14],"can":[15,21,79,117],"perform":[16],"on":[17,72],"objects.":[18,37],"Further,":[19],"affordances":[20,49,78],"enable":[22,118],"robots":[23],"reason":[25],"complicated,":[26],"multi-step":[27],"tasks":[28,132],"that":[29,76,114],"involve":[30],"proper":[31],"use":[32],"of":[33,36,43,65,87],"diversity":[35],"This":[38],"paper":[39],"proposes":[40],"the":[41,122],"concept":[42],"affordance":[44,91,115],"wayfields":[45,57,99,116],"representing":[47],"manipulation":[48],"objective":[51],"functions":[52],"in":[53],"configuration":[54],"space.":[55],"Affordance":[56],"quantify":[58],"how":[59],"well":[60],"path,":[62],"or":[63,95,138],"sequence":[64],"motions,":[66],"will":[67],"accomplish":[68],"an":[69,73],"afforded":[70,110],"action":[71],"object.":[74],"Paths":[75],"enact":[77],"be":[80],"located":[81],"by":[82],"performing":[83],"randomized":[85],"form":[86],"gradient":[88],"descent":[89],"over":[90],"wayfields.":[92],"Incorporating":[93],"obstacles,":[94],"other":[96],"constraints":[97],"into":[98],"allows":[100],"our":[101],"method":[102],"adaptively":[104],"generate":[105],"valid":[106],"motions":[107],"executing":[109],"actions.":[111],"We":[112],"demonstrate":[113],"robots,":[119],"such":[120,133],"Michigan":[123],"Progress":[124],"Fetch":[125],"mobile":[126],"manipulator,":[127],"solve":[129],"complex":[130],"real-world":[131],"assembling":[135],"table,":[137],"loading":[139],"and":[140],"unloading":[141],"objects":[142],"from":[143],"storage":[145],"chest.":[146]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}