{"id":"https://openalex.org/W4389665746","doi":"https://doi.org/10.1109/iros55552.2023.10342242","title":"Minimal Path Violation Problem with Application to Fault Tolerant Motion Planning of Manipulators","display_name":"Minimal Path Violation Problem with Application to Fault Tolerant Motion Planning of Manipulators","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665746","doi":"https://doi.org/10.1109/iros55552.2023.10342242"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342242","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342242","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5085661136","display_name":"Aakriti Upadhyay","orcid":"https://orcid.org/0000-0002-6490-1532"},"institutions":[{"id":"https://openalex.org/I392282","display_name":"University at Albany, State University of New York","ror":"https://ror.org/012zs8222","country_code":"US","type":"education","lineage":["https://openalex.org/I392282"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Aakriti Upadhyay","raw_affiliation_strings":["University at Albany, SUNY,Department of Computer Science","Department of Computer Science, University at Albany, SUNY"],"affiliations":[{"raw_affiliation_string":"University at Albany, SUNY,Department of Computer Science","institution_ids":["https://openalex.org/I392282"]},{"raw_affiliation_string":"Department of Computer Science, University at Albany, SUNY","institution_ids":["https://openalex.org/I392282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047853846","display_name":"Mukulika Ghosh","orcid":"https://orcid.org/0000-0002-4176-0714"},"institutions":[{"id":"https://openalex.org/I119942284","display_name":"Missouri State University","ror":"https://ror.org/01d2sez20","country_code":"US","type":"education","lineage":["https://openalex.org/I119942284"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mukulika Ghosh","raw_affiliation_strings":["Missouri State University,Department of Computer Science","Department of Computer Science, Missouri State University"],"affiliations":[{"raw_affiliation_string":"Missouri State University,Department of Computer Science","institution_ids":["https://openalex.org/I119942284"]},{"raw_affiliation_string":"Department of Computer Science, Missouri State University","institution_ids":["https://openalex.org/I119942284"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017440090","display_name":"Chinwe Ekenna","orcid":"https://orcid.org/0000-0002-7027-6040"},"institutions":[{"id":"https://openalex.org/I392282","display_name":"University at Albany, State University of New York","ror":"https://ror.org/012zs8222","country_code":"US","type":"education","lineage":["https://openalex.org/I392282"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chinwe Ekenna","raw_affiliation_strings":["University at Albany, SUNY,Department of Computer Science","Department of Computer Science, University at Albany, SUNY"],"affiliations":[{"raw_affiliation_string":"University at Albany, SUNY,Department of Computer Science","institution_ids":["https://openalex.org/I392282"]},{"raw_affiliation_string":"Department of Computer Science, University at Albany, SUNY","institution_ids":["https://openalex.org/I392282"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5085661136"],"corresponding_institution_ids":["https://openalex.org/I392282"],"apc_list":null,"apc_paid":null,"fwci":0.1228,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.44713507,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"8673","last_page":"8679"},"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8518097400665283},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.7615066170692444},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.758183479309082},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7038743495941162},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.6881979703903198},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6244415640830994},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.56013023853302},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.5462042093276978},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.541456937789917},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.5117833018302917},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4307540953159332},{"id":"https://openalex.org/keywords/visibility-graph","display_name":"Visibility graph","score":0.42769619822502136},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42654669284820557},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.35852038860321045},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2741127908229828},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2528966963291168},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20729684829711914},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.06390544772148132}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8518097400665283},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7615066170692444},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.758183479309082},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7038743495941162},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.6881979703903198},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6244415640830994},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.56013023853302},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.5462042093276978},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.541456937789917},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.5117833018302917},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4307540953159332},{"id":"https://openalex.org/C173362246","wikidata":"https://www.wikidata.org/wiki/Q8216024","display_name":"Visibility graph","level":3,"score":0.42769619822502136},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42654669284820557},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.35852038860321045},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2741127908229828},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2528966963291168},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20729684829711914},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.06390544772148132},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342242","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342242","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W106002888","https://openalex.org/W1424654272","https://openalex.org/W1485487406","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W2023862787","https://openalex.org/W2068398905","https://openalex.org/W2078159783","https://openalex.org/W2114306020","https://openalex.org/W2128990851","https://openalex.org/W2150500908","https://openalex.org/W2171298449","https://openalex.org/W2171940562","https://openalex.org/W2288650507","https://openalex.org/W2383103400","https://openalex.org/W2770729327","https://openalex.org/W2890426256","https://openalex.org/W2973711994","https://openalex.org/W3002132318","https://openalex.org/W3003318605","https://openalex.org/W3004930912","https://openalex.org/W3008562595","https://openalex.org/W3035831272","https://openalex.org/W3102121895","https://openalex.org/W3104420037","https://openalex.org/W3132711197","https://openalex.org/W3159434032","https://openalex.org/W3188815642","https://openalex.org/W3201399965","https://openalex.org/W4200605189","https://openalex.org/W4212886559","https://openalex.org/W4288885957","https://openalex.org/W4295854880","https://openalex.org/W4311443593","https://openalex.org/W4385490503"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W2005695917","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2333571655","https://openalex.org/W2044243445","https://openalex.org/W2104320275","https://openalex.org/W4367628293","https://openalex.org/W2268712943","https://openalex.org/W3120299297"],"abstract_inverted_index":{"Failure":[0],"of":[1],"any":[2],"component":[3],"in":[4,35,103,115],"a":[5,11,26],"robotic":[6],"system":[7],"during":[8],"operation":[9],"is":[10,16],"critical":[12],"concern,":[13],"and":[14,70,90,108],"it":[15],"essential":[17],"to":[18,29,53,79],"address":[19],"such":[20],"incidents":[21],"promptly.":[22],"This":[23],"work":[24],"investigates":[25],"novel":[27],"technique":[28],"recover":[30],"from":[31,84],"failures":[32],"or":[33,43],"changes":[34],"the":[36,47,55],"configuration":[37,117],"space":[38],"while":[39,111],"avoiding":[40],"expensive":[41],"re-computation":[42],"re-planning.":[44],"We":[45,72],"propose":[46],"Minimal":[48],"Path":[49],"Violation":[50],"(MPV)":[51],"concept":[52],"find":[54],"best":[56],"feasible":[57],"path":[58,109,113],"with":[59,75],"minimal":[60],"re-configurations.":[61],"The":[62],"algorithm":[63],"ranks":[64],"pathways":[65],"based":[66],"on":[67],"visibility,":[68],"expansiveness,":[69],"cost.":[71],"perform":[73],"experiments":[74],"articulated":[76],"3":[77],"DOF":[78,81],"28":[80],"robots":[82],"ranging":[83],"serial":[85],"linkage":[86],"robots,":[87],"Kuka":[88],"YouBots,":[89],"PR2":[91],"robots.":[92],"Our":[93],"results":[94],"show":[95],"that":[96],"our":[97],"method":[98],"outperforms":[99],"existing":[100],"optimal":[101],"planners":[102],"computation":[104],"time,":[105],"total":[106],"nodes,":[107],"cost":[110],"preserving":[112],"feasibility":[114],"changed":[116],"space.":[118]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}