{"id":"https://openalex.org/W4405778944","doi":"https://doi.org/10.1109/iros58592.2024.10802127","title":"Efficient Target Singulation with Multi-fingered Gripper using Propositional Logic","display_name":"Efficient Target Singulation with Multi-fingered Gripper using Propositional Logic","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405778944","doi":"https://doi.org/10.1109/iros58592.2024.10802127"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802127","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5082799774","display_name":"H. M. Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyojeong Kim","raw_affiliation_strings":["Korea Institute of Science and Technology,Seoul,Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology,Seoul,Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089798579","display_name":"J. C. Jo","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"JeongYong Jo","raw_affiliation_strings":["Korea Institute of Science and Technology,Seoul,Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology,Seoul,Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079659183","display_name":"Myo Taeg Lim","orcid":"https://orcid.org/0000-0003-2990-8066"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myo-Taeg Lim","raw_affiliation_strings":["Korea University,Department of Electrical Engineering,Seoul,Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea University,Department of Electrical Engineering,Seoul,Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102798763","display_name":"ChangHwan Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"ChangHwan Kim","raw_affiliation_strings":["Korea Institute of Science and Technology,Seoul,Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology,Seoul,Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8877,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73948735,"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":"12101","last_page":"12107"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.993399977684021,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.993399977684021,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9768000245094299,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10533","display_name":"Teaching and Learning Programming","score":0.9750000238418579,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5409144163131714}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5409144163131714}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802127","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.4399999976158142,"display_name":"Reduced inequalities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337495","display_name":"Technology Development","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W1989021449","https://openalex.org/W2082511574","https://openalex.org/W2109447584","https://openalex.org/W2141664020","https://openalex.org/W2962793652","https://openalex.org/W2967171277","https://openalex.org/W2968156685","https://openalex.org/W2986717012","https://openalex.org/W3089883116","https://openalex.org/W3176770340","https://openalex.org/W3183217451","https://openalex.org/W4382866721","https://openalex.org/W4383109042","https://openalex.org/W6632333778"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"When":[0],"multiple":[1],"tablewares":[2,31],"are":[3],"closely":[4],"packed":[5],"on":[6,57],"a":[7,37,50,69,94,159],"table,":[8],"rearranging":[9],"obstacles":[10,107],"to":[11,16,25,67,87],"make":[12,36],"space":[13],"is":[14,47,55],"necessary":[15],"grasp":[17],"the":[18,26,41,83,99,102,114,122,129,133,143,150,156],"target,":[19,84],"often":[20],"called":[21],"target":[22,42,123,134],"singulation.":[23],"Due":[24],"nature":[27],"of":[28,145,152],"handling":[29],"fragile":[30],"(i.e.":[32],"plates,":[33],"bowls),":[34],"we":[35,65,85,92],"few":[38],"assumptions":[39],"for":[40],"singulation":[43],"problem.":[44],"First,":[45],"tableware":[46],"grasped":[48],"with":[49],"multi-fingered":[51],"gripper;":[52],"second,":[53],"rearrangement":[54],"based":[56],"prehensile":[58],"motions":[59],"like":[60],"pick-and-place.":[61],"Under":[62],"these":[63],"assumptions,":[64],"aim":[66,86],"generate":[68],"relocation":[70,79,139],"plan":[71,80,157],"that":[72,97],"guarantees":[73],"global":[74],"optimality.":[75],"Furthermore,":[76],"if":[77],"any":[78],"cannot":[81],"singulate":[82],"determine":[88],"it":[89],"quickly.":[90],"Therefore,":[91],"propose":[93],"search":[95,130],"method":[96],"utilizes":[98],"relationship":[100],"between":[101],"object":[103],"and":[104,127,154],"its":[105],"nearby":[106],"expressed":[108],"in":[109,158],"propositional":[110],"logic.":[111],"We":[112,141],"define":[113],"problem":[115],"as":[116],"determining":[117],"logical":[118],"entailment":[119],"(i.e.,":[120],"whether":[121],"can":[124],"be":[125],"singulated)":[126],"expand":[128],"tree":[131],"from":[132],"while":[135],"generating":[136],"an":[137],"optimal":[138],"plan.":[140],"demonstrate":[142],"performance":[144],"our":[146],"algorithm":[147],"by":[148],"increasing":[149],"number":[151],"objects":[153],"validate":[155],"simulation":[160],"environment.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
