{"id":"https://openalex.org/W2132114646","doi":"https://doi.org/10.1109/jra.1987.1087095","title":"A simple motion-planning algorithm for general robot manipulators","display_name":"A simple motion-planning algorithm for general robot manipulators","publication_year":1987,"publication_date":"1987-06-01","ids":{"openalex":"https://openalex.org/W2132114646","doi":"https://doi.org/10.1109/jra.1987.1087095","mag":"2132114646"},"language":"en","primary_location":{"id":"doi:10.1109/jra.1987.1087095","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1987.1087095","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/A5063238208","display_name":"Tom\u00e1s Lozano\u2010P\u00e9rez","orcid":"https://orcid.org/0000-0002-8657-2450"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"T. Lozano-Perez","raw_affiliation_strings":["Artificial Intelligence Laboratory and the Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA","Massachusetts Institute of Technology; ,; Cambridge MA USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Laboratory and the Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology; ,; Cambridge MA USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5063238208"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":41.916,"has_fulltext":false,"cited_by_count":616,"citation_normalized_percentile":{"value":0.99873482,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"3","issue":"3","first_page":"224","last_page":"238"},"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":0.9983000159263611,"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":0.9980999827384949,"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":0.9120581150054932},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.7163742184638977},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.7112981081008911},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5717098712921143},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5712172985076904},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5709227323532104},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5476908683776855},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5256670117378235},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5089676380157471},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4933842718601227},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4840892553329468},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40852999687194824},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3659931421279907},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27806341648101807},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0888640284538269},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06349050998687744}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.9120581150054932},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.7163742184638977},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.7112981081008911},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5717098712921143},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5712172985076904},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5709227323532104},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5476908683776855},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5256670117378235},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5089676380157471},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4933842718601227},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4840892553329468},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40852999687194824},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3659931421279907},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27806341648101807},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0888640284538269},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06349050998687744},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/jra.1987.1087095","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1987.1087095","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W282148099","https://openalex.org/W1543194407","https://openalex.org/W1581527321","https://openalex.org/W1901697964","https://openalex.org/W1966594564","https://openalex.org/W1978023077","https://openalex.org/W1991461030","https://openalex.org/W2010692862","https://openalex.org/W2033013465","https://openalex.org/W2065283065","https://openalex.org/W2077091230","https://openalex.org/W2079694260","https://openalex.org/W2141825555","https://openalex.org/W2150500908","https://openalex.org/W2163178194","https://openalex.org/W2166485770","https://openalex.org/W4252387763","https://openalex.org/W6634579506","https://openalex.org/W6644756748"],"related_works":["https://openalex.org/W2394276631","https://openalex.org/W2005695917","https://openalex.org/W2333571655","https://openalex.org/W2104320275","https://openalex.org/W3004930912","https://openalex.org/W2132114646","https://openalex.org/W2111158727","https://openalex.org/W1510039162","https://openalex.org/W2112736381","https://openalex.org/W2168875866"],"abstract_inverted_index":{"A":[0],"simple":[1],"and":[2],"efficient":[3,62],"algorithm":[4,21],"is":[5,29],"presented,":[6],"using":[7],"configuration":[8],"space,":[9],"to":[10,60],"plan":[11],"collision-free":[12],"motions":[13],"for":[14,22,35],"general":[15],"manipulators.":[16],"An":[17],"implementation":[18],"of":[19,26,44,64,69],"the":[20,65,70],"manipulators":[23],"made":[24],"up":[25,52],"revolute":[27],"joints":[28],"also":[30],"presented.":[31],"The":[32],"configuration-space":[33,71],"obstacles":[34],"an":[36,61],"n":[37,45],"degree-of-freedom":[38],"manipulator":[39],"are":[40],"approximated":[41],"by":[42],"sets":[43],"-":[46],"1-":[47],"dimensional":[48],"slices,":[49],"recursively":[50],"built":[51],"from":[53],"one-dimensional":[54],"slices.":[55],"This":[56],"obstacle":[57],"representation":[58],"leads":[59],"approximation":[63],"free":[66],"space":[67],"outside":[68],"obstacles.":[72]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":11}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}