{"id":"https://openalex.org/W4200464294","doi":"https://doi.org/10.1109/iros51168.2021.9635916","title":"Task-Consistent Path Planning for Mobile 3D Printing","display_name":"Task-Consistent Path Planning for Mobile 3D Printing","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200464294","doi":"https://doi.org/10.1109/iros51168.2021.9635916"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9635916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635916","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://discovery.ucl.ac.uk/10133188/1/P34__Sustarevas__2021__IROS.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064980978","display_name":"Julius Sustarevas","orcid":"https://orcid.org/0000-0001-8073-6445"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Julius Sustarevas","raw_affiliation_strings":["University College London, UK"],"affiliations":[{"raw_affiliation_string":"University College London, UK","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048122691","display_name":"Dimitrios Kanoulas","orcid":"https://orcid.org/0000-0002-3684-1472"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dimitrios Kanoulas","raw_affiliation_strings":["University College London, UK"],"affiliations":[{"raw_affiliation_string":"University College London, UK","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049634973","display_name":"Simon Julier","orcid":"https://orcid.org/0000-0003-4380-137X"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Simon Julier","raw_affiliation_strings":["University College London, UK"],"affiliations":[{"raw_affiliation_string":"University College London, UK","institution_ids":["https://openalex.org/I45129253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5064980978"],"corresponding_institution_ids":["https://openalex.org/I45129253"],"apc_list":null,"apc_paid":null,"fwci":0.9195,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.84662752,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2143","last_page":"2150"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.991100013256073,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8538656234741211},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7470579147338867},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.7246770262718201},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6832426190376282},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6609236001968384},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6495206356048584},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6420137286186218},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5275074243545532},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.47937920689582825},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4695485234260559},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4049715995788574},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34965288639068604},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2877904772758484},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2738688588142395},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.16202807426452637},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1460360884666443},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1080634593963623}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8538656234741211},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7470579147338867},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.7246770262718201},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6832426190376282},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6609236001968384},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6495206356048584},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6420137286186218},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5275074243545532},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.47937920689582825},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4695485234260559},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4049715995788574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34965288639068604},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2877904772758484},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2738688588142395},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.16202807426452637},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1460360884666443},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1080634593963623},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9635916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635916","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10133188","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10133188/","pdf_url":"https://discovery.ucl.ac.uk/10133188/1/P34__Sustarevas__2021__IROS.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"     In:  Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021).  (pp. pp. 2143-2150).  Institute of Electrical and Electronics Engineers (IEEE) (2021)     ","raw_type":"Proceedings paper"}],"best_oa_location":{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10133188","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10133188/","pdf_url":"https://discovery.ucl.ac.uk/10133188/1/P34__Sustarevas__2021__IROS.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"     In:  Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021).  (pp. pp. 2143-2150).  Institute of Electrical and Electronics Engineers (IEEE) (2021)     ","raw_type":"Proceedings paper"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.47999998927116394,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4200464294.pdf","grobid_xml":"https://content.openalex.org/works/W4200464294.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1645548342","https://openalex.org/W1999191368","https://openalex.org/W2030929340","https://openalex.org/W2093311332","https://openalex.org/W2112271657","https://openalex.org/W2118897212","https://openalex.org/W2122287758","https://openalex.org/W2129066514","https://openalex.org/W2165745738","https://openalex.org/W2205340216","https://openalex.org/W2485992890","https://openalex.org/W2503299386","https://openalex.org/W2609451481","https://openalex.org/W2615049565","https://openalex.org/W2808000702","https://openalex.org/W2887785894","https://openalex.org/W2910322236","https://openalex.org/W2910448276","https://openalex.org/W2963816708","https://openalex.org/W2964065782","https://openalex.org/W3004335173","https://openalex.org/W3012463097","https://openalex.org/W3088291244","https://openalex.org/W3091308832","https://openalex.org/W3204814740","https://openalex.org/W4248446246","https://openalex.org/W4287601444","https://openalex.org/W6678350294","https://openalex.org/W6784108711","https://openalex.org/W6785497817","https://openalex.org/W6802885260"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"In":[0,45,112],"this":[1,46,113],"paper,":[2],"we":[3,48],"explore":[4],"the":[5,118,125],"problem":[6],"of":[7,66],"task-consistent":[8],"path":[9,54,104,119],"planning":[10,55],"for":[11,26,57],"printing-in-motion":[12],"via":[13],"Mobile":[14],"Manipulators":[15],"(MM).":[16],"MM":[17],"offer":[18],"a":[19,50,63,77,102,109],"potentially":[20],"unlimited":[21],"planar":[22],"workspace":[23],"and":[24,89,123],"flexibility":[25],"print":[27,103],"operations.":[28],"However,":[29],"most":[30],"existing":[31],"methods":[32],"have":[33],"only":[34],"mobility":[35],"to":[36,83],"relocate":[37],"an":[38],"arm":[39],"which":[40,73],"then":[41],"prints":[42],"while":[43],"stationary.":[44],"paper":[47],"present":[49],"new":[51],"fully":[52],"autonomous":[53],"approach":[56],"mobile":[58],"material":[59],"deposition.":[60],"We":[61],"use":[62],"modified":[64],"version":[65],"Rapidly-exploring":[67],"Random":[68],"Tree":[69],"Star":[70],"(RRT*)":[71],"algorithm,":[72],"is":[74],"informed":[75],"by":[76],"constrained":[78],"Inverse":[79],"Reachability":[80],"Map":[81],"(IRM)":[82],"ensure":[84],"task":[85],"consistency.":[86],"Collision":[87],"avoidance":[88],"end-effector":[90],"reachability":[91],"are":[92],"respected":[93],"in":[94,108],"our":[95],"approach.":[96],"Our":[97],"method":[98],"also":[99],"detects":[100],"when":[101],"cannot":[105],"be":[106],"completed":[107],"single":[110],"execution.":[111],"case":[114],"it":[115],"will":[116],"decompose":[117],"into":[120],"several":[121],"segments":[122],"reposition":[124],"base":[126],"accordingly.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}