{"id":"https://openalex.org/W4312356001","doi":"https://doi.org/10.1109/iros47612.2022.9981715","title":"Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement","display_name":"Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312356001","doi":"https://doi.org/10.1109/iros47612.2022.9981715"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981715","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981715","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5102809497","display_name":"Kai Gao","orcid":"https://orcid.org/0000-0003-4297-2978"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kai Gao","raw_affiliation_strings":["Rutgers, the State University of New Jersey,Department of Computer Science,Piscataway,NJ,USA","Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA"],"affiliations":[{"raw_affiliation_string":"Rutgers, the State University of New Jersey,Department of Computer Science,Piscataway,NJ,USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048925474","display_name":"Jingjin Yu","orcid":"https://orcid.org/0000-0002-7594-7798"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingjin Yu","raw_affiliation_strings":["Rutgers, the State University of New Jersey,Department of Computer Science,Piscataway,NJ,USA","Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA"],"affiliations":[{"raw_affiliation_string":"Rutgers, the State University of New Jersey,Department of Computer Science,Piscataway,NJ,USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102809497"],"corresponding_institution_ids":["https://openalex.org/I102322142"],"apc_list":null,"apc_paid":null,"fwci":0.7196,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.79723371,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"10425","last_page":"10431"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9980000257492065,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.8279462456703186},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7846776247024536},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6789118051528931},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6440213322639465},{"id":"https://openalex.org/keywords/monotone-polygon","display_name":"Monotone polygon","score":0.6339355707168579},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5858961343765259},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5733933448791504},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.5283815860748291},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4889932870864868},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.46977680921554565},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4633873403072357},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.45486021041870117},{"id":"https://openalex.org/keywords/job-shop-scheduling","display_name":"Job shop scheduling","score":0.41116005182266235},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3896125555038452},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3394221067428589},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.20455554127693176},{"id":"https://openalex.org/keywords/schedule","display_name":"Schedule","score":0.20206806063652039},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11200359463691711},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08706846833229065},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.06338503956794739}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8279462456703186},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7846776247024536},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6789118051528931},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6440213322639465},{"id":"https://openalex.org/C2834757","wikidata":"https://www.wikidata.org/wiki/Q4925424","display_name":"Monotone polygon","level":2,"score":0.6339355707168579},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5858961343765259},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5733933448791504},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.5283815860748291},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4889932870864868},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.46977680921554565},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4633873403072357},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.45486021041870117},{"id":"https://openalex.org/C55416958","wikidata":"https://www.wikidata.org/wiki/Q6206757","display_name":"Job shop scheduling","level":3,"score":0.41116005182266235},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3896125555038452},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3394221067428589},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.20455554127693176},{"id":"https://openalex.org/C68387754","wikidata":"https://www.wikidata.org/wiki/Q7271585","display_name":"Schedule","level":2,"score":0.20206806063652039},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11200359463691711},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08706846833229065},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.06338503956794739},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981715","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981715","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G6298764677","display_name":null,"funder_award_id":"IIS-1845888,CCF-1934924,IIS-2132972","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W125001008","https://openalex.org/W1008966784","https://openalex.org/W2055569927","https://openalex.org/W2094094209","https://openalex.org/W2109447584","https://openalex.org/W2139039898","https://openalex.org/W2168244089","https://openalex.org/W2293698677","https://openalex.org/W2401610261","https://openalex.org/W2418783521","https://openalex.org/W2463188794","https://openalex.org/W2736647539","https://openalex.org/W2962872943","https://openalex.org/W2986717012","https://openalex.org/W3022180142","https://openalex.org/W3087791475","https://openalex.org/W3089825434","https://openalex.org/W3174510143","https://openalex.org/W3186239158","https://openalex.org/W3202804971","https://openalex.org/W3203645530","https://openalex.org/W3205918749","https://openalex.org/W3206144464","https://openalex.org/W3209765550","https://openalex.org/W4240202985","https://openalex.org/W4285102213","https://openalex.org/W4288286204","https://openalex.org/W4312356001","https://openalex.org/W4379880547","https://openalex.org/W6801223378","https://openalex.org/W6801843393","https://openalex.org/W6803177987","https://openalex.org/W6840672779"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W1999333556"],"abstract_inverted_index":{"We":[0,88],"investigate":[1],"the":[2,53,58,62,76,85],"problem":[3],"of":[4,112],"coordinating":[5],"two":[6,40,86],"robot":[7],"arms":[8,41],"to":[9,33,106],"solve":[10,34],"non-monotone":[11,19],"tabletop":[12,65],"multi-object":[13],"re-":[14],"arrangement":[15],"tasks.":[16],"In":[17,37],"a":[18,43,94],"rearrangement":[20,66],"task,":[21],"complex":[22],"object-object":[23],"dependencies":[24],"exist":[25],"that":[26,79],"require":[27],"moving":[28],"some":[29,46],"objects":[30,47],"multiple":[31],"times":[32],"an":[35],"instance.":[36],"working":[38],"with":[39],"in":[42,104],"large":[44],"workspace,":[45],"must":[48],"be":[49,81],"handed":[50],"off":[51],"between":[52,84],"robots,":[54],"which":[55],"further":[56],"complicates":[57],"planning":[59,72],"process.":[60],"For":[61],"challenging":[63],"dual-arm":[64],"problem,":[67],"we":[68],"develop":[69],"effective":[70],"task":[71],"algorithms":[73],"for":[74],"scheduling":[75],"pick-n-place":[77],"sequence":[78],"can":[80],"properly":[82],"distributed":[83],"arms.":[87],"show":[89],"that,":[90],"even":[91],"without":[92],"using":[93],"sophisticated":[95],"motion":[96],"planner,":[97],"our":[98],"method":[99],"achieves":[100],"significant":[101],"time":[102],"savings":[103],"comparison":[105],"greedy":[107],"approaches":[108],"and":[109],"naive":[110],"parallelization":[111],"single-robot":[113],"plans.":[114]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}