{"id":"https://openalex.org/W4405786838","doi":"https://doi.org/10.1109/iros58592.2024.10802531","title":"Generating Continuous Paths On Learned Constraint Manifolds Using Policy Search","display_name":"Generating Continuous Paths On Learned Constraint Manifolds Using Policy Search","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786838","doi":"https://doi.org/10.1109/iros58592.2024.10802531"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802531","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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.whiterose.ac.uk/221710/8/IROS_2024_Paper_-_AAM.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092309903","display_name":"Ethan Canzini","orcid":null},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ethan Canzini","raw_affiliation_strings":["University of Sheffield,Department of Automatic Control & Systems Engineering,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Sheffield,Department of Automatic Control & Systems Engineering,UK","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062218401","display_name":"Simon Pope","orcid":"https://orcid.org/0000-0001-8130-4222"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Simon Pope","raw_affiliation_strings":["University of Sheffield,Department of Automatic Control & Systems Engineering,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Sheffield,Department of Automatic Control & Systems Engineering,UK","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066657755","display_name":"Ashutosh Tiwari","orcid":"https://orcid.org/0000-0002-6197-1519"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ashutosh Tiwari","raw_affiliation_strings":["University of Sheffield,Department of Automatic Control & Systems Engineering,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Sheffield,Department of Automatic Control & Systems Engineering,UK","institution_ids":["https://openalex.org/I91136226"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3122,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.62997669,"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":"5396","last_page":"5401"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.982200026512146,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.982200026512146,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12401","display_name":"Scheduling and Timetabling Solutions","score":0.9509000182151794,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9176999926567078,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6518419981002808},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5773969292640686},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.43776577711105347},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.38916945457458496},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33074259757995605},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3033267855644226},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1004687249660492}],"concepts":[{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6518419981002808},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5773969292640686},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.43776577711105347},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.38916945457458496},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33074259757995605},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3033267855644226},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1004687249660492}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros58592.2024.10802531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802531","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"},{"id":"pmh:oai:eprints.whiterose.ac.uk:221710","is_oa":true,"landing_page_url":"https://orcid.org/0000-0003-1910-4267>,","pdf_url":"https://eprints.whiterose.ac.uk/221710/8/IROS_2024_Paper_-_AAM.pdf","source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":{"id":"pmh:oai:eprints.whiterose.ac.uk:221710","is_oa":true,"landing_page_url":"https://orcid.org/0000-0003-1910-4267>,","pdf_url":"https://eprints.whiterose.ac.uk/221710/8/IROS_2024_Paper_-_AAM.pdf","source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321788","display_name":"Airbus","ror":"https://ror.org/023qdcg29"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4405786838.pdf"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1870250857","https://openalex.org/W1967928240","https://openalex.org/W2019965290","https://openalex.org/W2083327122","https://openalex.org/W2088801701","https://openalex.org/W2103776982","https://openalex.org/W2153628631","https://openalex.org/W2794908222","https://openalex.org/W2896405912","https://openalex.org/W3035221070","https://openalex.org/W3091816934","https://openalex.org/W3137080141","https://openalex.org/W3191541459","https://openalex.org/W3206554978","https://openalex.org/W3214738088","https://openalex.org/W3217170181","https://openalex.org/W4285196244","https://openalex.org/W4383172031","https://openalex.org/W4386208449","https://openalex.org/W4401416739","https://openalex.org/W6741002519","https://openalex.org/W6803273442","https://openalex.org/W6838483015"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W1979597421","https://openalex.org/W2007980826","https://openalex.org/W2051487156","https://openalex.org/W2061531152","https://openalex.org/W3002753104","https://openalex.org/W2077600819","https://openalex.org/W2142036596","https://openalex.org/W2072657027","https://openalex.org/W2349580982"],"abstract_inverted_index":{"Many":[0],"robotic":[1],"manipulation":[2,21,135],"tasks":[3,22,97],"are":[4,36],"constrained":[5],"due":[6],"to":[7,29,38,64,103,128,151,185],"kinematic":[8,179],"limitations":[9],"placed":[10],"on":[11,190],"the":[12,18,75,84,98,105,117,130,134,140,153,158],"object":[13],"being":[14],"manipulated.":[15],"This":[16],"increases":[17],"complexity":[19],"of":[20,119,169],"that":[23,32,82,115,124],"operate":[24],"in":[25,59,167],"high":[26],"dimensions,":[27],"leading":[28],"increased":[30],"risk":[31],"sampling":[33],"based":[34],"planners":[35],"unable":[37],"find":[39,186],"optimal":[40,48,57,67,187],"solutions.":[41],"Whilst":[42],"trajectory":[43],"optimisation":[44],"methods":[45],"provide":[46,55,65,112,165],"guaranteed":[47],"solutions":[49,58],"when":[50],"implementing":[51],"constraints,":[52,180],"they":[53],"only":[54],"locally":[56],"sequential":[60],"decision-making":[61],"and":[62],"struggle":[63],"globally":[66],"paths.":[68],"These":[69],"constraints":[70,89],"can":[71,125,145],"be":[72,101,126,146],"incorporated":[73],"into":[74],"probabilistic":[76],"latent":[77],"spaces":[78],"by":[79],"using":[80,148],"demonstrations":[81],"satisfy":[83],"constraint":[85,131,191],"function.":[86],"However":[87],"whenever":[88],"change":[90],"or":[91],"a":[92,120],"manipulator":[93],"must":[94,100],"perform":[95],"different":[96,178],"network":[99],"retrained":[102],"accommodate":[104],"new":[106],"constraints.":[107],"In":[108],"this":[109,138],"paper,":[110],"we":[111],"an":[113],"approach":[114],"allows":[116],"training":[118],"single":[121],"learned":[122],"manifold":[123,132],"augmented":[127],"determine":[129],"for":[133],"task.":[136],"Using":[137],"manifold,":[139],"geodesic":[141,159],"between":[142],"two":[143],"points":[144],"computed":[147],"policy":[149],"search":[150],"solve":[152],"cost":[154],"function":[155],"associated":[156],"with":[157,177],"curve":[160],"length":[161,171],"${\\mathcal{L}_\\gamma":[162],"}$.":[163],"We":[164],"comparisons":[166],"terms":[168],"path":[170,174],"against":[172],"popular":[173],"planning":[175],"algorithms":[176],"demonstrating":[181],"our":[182],"method\u2019s":[183],"ability":[184],"shortest":[188],"paths":[189],"manifolds.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}