{"id":"https://openalex.org/W2001540766","doi":"https://doi.org/10.1109/jra.1987.1087094","title":"Effect of kinematics on motion planning for planar robot arms moving amidst unknown obstacles","display_name":"Effect of kinematics on motion planning for planar robot arms moving amidst unknown obstacles","publication_year":1987,"publication_date":"1987-06-01","ids":{"openalex":"https://openalex.org/W2001540766","doi":"https://doi.org/10.1109/jra.1987.1087094","mag":"2001540766"},"language":"en","primary_location":{"id":"doi:10.1109/jra.1987.1087094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1987.1087094","pdf_url":null,"source":{"id":"https://openalex.org/S105799543","display_name":"IEEE Journal on Robotics and Automation","issn_l":"0882-4967","issn":["0882-4967","2374-8710"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal on Robotics and Automation","raw_type":"journal-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/A5069398285","display_name":"V. Lumelsky","orcid":"https://orcid.org/0000-0002-3605-089X"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"V. Lumelsky","raw_affiliation_strings":["Department of Electrical Engineering, Yale University, New Heaven, CT, USA","\u2020Yale University, New Haven, CT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Yale University, New Heaven, CT, USA","institution_ids":["https://openalex.org/I32971472"]},{"raw_affiliation_string":"\u2020Yale University, New Haven, CT, USA","institution_ids":["https://openalex.org/I32971472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5069398285"],"corresponding_institution_ids":["https://openalex.org/I32971472"],"apc_list":null,"apc_paid":null,"fwci":9.0281,"has_fulltext":false,"cited_by_count":83,"citation_normalized_percentile":{"value":0.97722672,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"3","issue":"3","first_page":"207","last_page":"223"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.998199999332428,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976000189781189,"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/revolute-joint","display_name":"Revolute joint","score":0.8935608863830566},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7954419851303101},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7672824263572693},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5841965675354004},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5608702301979065},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4776241183280945},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4413778781890869},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4403940439224243},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.43994706869125366},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4050637483596802},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3725823163986206},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2227557897567749},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16766759753227234},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13257980346679688},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11508399248123169},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09852463006973267},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.06892722845077515}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.8935608863830566},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7954419851303101},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7672824263572693},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5841965675354004},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5608702301979065},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4776241183280945},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4413778781890869},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4403940439224243},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.43994706869125366},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4050637483596802},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3725823163986206},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2227557897567749},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16766759753227234},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13257980346679688},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11508399248123169},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09852463006973267},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.06892722845077515},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jra.1987.1087094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1987.1087094","pdf_url":null,"source":{"id":"https://openalex.org/S105799543","display_name":"IEEE Journal on Robotics and Automation","issn_l":"0882-4967","issn":["0882-4967","2374-8710"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal on Robotics and Automation","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W3795417","https://openalex.org/W1512267351","https://openalex.org/W1558446093","https://openalex.org/W1581527321","https://openalex.org/W1582353822","https://openalex.org/W1873987791","https://openalex.org/W1901697964","https://openalex.org/W2001804342","https://openalex.org/W2010692862","https://openalex.org/W2033013465","https://openalex.org/W2042106485","https://openalex.org/W2044502073","https://openalex.org/W2056901560","https://openalex.org/W2062163812","https://openalex.org/W2079694260","https://openalex.org/W2086706470","https://openalex.org/W2098412395","https://openalex.org/W2119559506","https://openalex.org/W2138524742","https://openalex.org/W2141825555","https://openalex.org/W2150788205","https://openalex.org/W2315905328","https://openalex.org/W2730553237","https://openalex.org/W3140424958","https://openalex.org/W6600142284","https://openalex.org/W6630779618","https://openalex.org/W6634579506","https://openalex.org/W6740827487"],"related_works":["https://openalex.org/W2393524901","https://openalex.org/W1731517871","https://openalex.org/W2978007058","https://openalex.org/W3114149462","https://openalex.org/W2897178038","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994"],"abstract_inverted_index":{"An":[0],"approach":[1,36,130],"of":[2,31,53,86,102],"dynamic":[3],"path":[4,123],"planning":[5,16,124,138],"(DPP)":[6],"was":[7,37],"introduced":[8,120],"elsewhere,":[9],"and":[10,91],"nonheuristic":[11],"algorithms":[12],"were":[13],"described":[14],"for":[15,19,135],"collision-free":[17],"paths":[18],"a":[20,41],"point":[21,52],"automaton":[22],"moving":[23],"in":[24,48,96,121,139],"an":[25,132],"environment":[26],"filled":[27],"with":[28,45,89,142],"unknown":[29],"obstacles":[30],"arbitrary":[32],"shape.":[33],"The":[34,129],"DPP":[35],"further":[38],"extended":[39],"to":[40,59,126],"planar":[42,87],"robot":[43,55,136],"arm":[44,114],"revolute":[46,90],"joints;":[47],"this":[49,97],"case,":[50],"every":[51],"the":[54,62,65,75,100,104,113,122],"body":[56],"is":[57,108],"subject":[58],"collision.":[60],"Under":[61],"accepted":[63],"model,":[64],"robot,":[66],"using":[67],"information":[68],"about":[69],"its":[70,81],"immediate":[71],"surroundings":[72],"provided":[73],"by":[74],"sensory":[76],"feedback,":[77],"continuously":[78],"(dynamically)":[79],"generates":[80],"path.":[82],"Various":[83],"kinematic":[84],"configurations":[85],"arms":[88],"sliding":[92],"joints":[93],"are":[94],"analyzed":[95],"paper":[98],"from":[99],"standpoint":[101],"applying":[103],"same":[105],"strategy.":[106],"It":[107],"shown":[109],"that,":[110],"depending":[111],"on":[112],"kinematics,":[115],"specific":[116],"modifications":[117],"must":[118],"be":[119],"algorithm":[125],"preserve":[127],"convergence.":[128],"presents":[131],"attractive":[133],"method":[134],"motion":[137],"unstructured":[140],"environments":[141],"uncertainty.":[143]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
