{"id":"https://openalex.org/W1631845557","doi":"https://doi.org/10.1109/jra.1987.1087116","title":"Coordinating the motions of robot arms in a common workspace","display_name":"Coordinating the motions of robot arms in a common workspace","publication_year":1987,"publication_date":"1987-10-01","ids":{"openalex":"https://openalex.org/W1631845557","doi":"https://doi.org/10.1109/jra.1987.1087116","mag":"1631845557"},"language":"en","primary_location":{"id":"doi:10.1109/jra.1987.1087116","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1987.1087116","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/A5055790457","display_name":"J. Roach","orcid":null},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"J. Roach","raw_affiliation_strings":["Department of Computer Science, Virginia Polytechnic Institute and State University, Blacksburg, VA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Virginia Polytechnic Institute and State University, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006228704","display_name":"M. Boaz","orcid":null},"institutions":[{"id":"https://openalex.org/I1283103587","display_name":"AT&T (United States)","ror":"https://ror.org/02bbd5539","country_code":"US","type":"company","lineage":["https://openalex.org/I1283103587"]},{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Boaz","raw_affiliation_strings":["HR1J-327, AT and T Bell Laboratories, Inc., Middletown, NJ, USA","Virginia Polytechnic Institute and state University, Blacksburg, VA, USA"],"affiliations":[{"raw_affiliation_string":"HR1J-327, AT and T Bell Laboratories, Inc., Middletown, NJ, USA","institution_ids":["https://openalex.org/I1283103587"]},{"raw_affiliation_string":"Virginia Polytechnic Institute and state University, Blacksburg, VA, USA","institution_ids":["https://openalex.org/I859038795"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5055790457"],"corresponding_institution_ids":["https://openalex.org/I859038795"],"apc_list":null,"apc_paid":null,"fwci":1.9468,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.8537629,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"3","issue":"5","first_page":"437","last_page":"444"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9998000264167786,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9958000183105469,"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/workspace","display_name":"Workspace","score":0.821049690246582},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6065143942832947},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6005121469497681},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5948746800422668},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5279036164283752},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5109719038009644},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5071017742156982},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4599190950393677},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.45348283648490906},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.43293297290802},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42853933572769165},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.42018967866897583},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4013197720050812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38447919487953186},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3340153396129608},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16143366694450378},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12530547380447388}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.821049690246582},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6065143942832947},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6005121469497681},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5948746800422668},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5279036164283752},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5109719038009644},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5071017742156982},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4599190950393677},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.45348283648490906},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.43293297290802},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42853933572769165},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.42018967866897583},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4013197720050812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38447919487953186},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3340153396129608},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16143366694450378},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12530547380447388},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jra.1987.1087116","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1987.1087116","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","score":0.800000011920929,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W3730475","https://openalex.org/W202072480","https://openalex.org/W831228545","https://openalex.org/W1531686189","https://openalex.org/W1587467920","https://openalex.org/W1602132814","https://openalex.org/W1972926733","https://openalex.org/W1975876941","https://openalex.org/W2033013465","https://openalex.org/W2039358567","https://openalex.org/W2077091230","https://openalex.org/W2079694260","https://openalex.org/W2090640923","https://openalex.org/W2113778071","https://openalex.org/W2323125201","https://openalex.org/W2949146770","https://openalex.org/W3110180709","https://openalex.org/W6608208524"],"related_works":["https://openalex.org/W1964490400","https://openalex.org/W1968518598","https://openalex.org/W4381746183","https://openalex.org/W229301543","https://openalex.org/W3117511302","https://openalex.org/W129737916","https://openalex.org/W4226385867","https://openalex.org/W2914399220","https://openalex.org/W2966461000","https://openalex.org/W4223569781"],"abstract_inverted_index":{"A":[0],"time/space":[1],"planning":[2],"system":[3,58],"to":[4,50,64],"coordinate":[5],"the":[6,41,57],"actions":[7],"of":[8,43,56,76],"two":[9],"robot":[10],"manipulators":[11],"for":[12],"transfer":[13],"movements":[14],"in":[15,61,69],"a":[16],"\"sparse\"":[17],"environment":[18],"is":[19,59],"reported":[20],"here.":[21],"The":[22,54],"collision":[23],"avoidance":[24],"reasoning":[25],"guarantees":[26],"that":[27],"arms":[28],"will":[29],"arrive":[30],"safely":[31],"at":[32],"their":[33],"destination":[34],"by":[35,39],"temporally":[36],"delaying":[37],"or":[38],"altering":[40],"path":[42],"one":[44],"arm.":[45],"End":[46],"effectors":[47],"are":[48],"constrained":[49],"follow":[51],"elliptical":[52],"motions.":[53],"performance":[55],"sufficient":[60],"normal":[62],"circumstances":[63],"drive":[65],"an":[66],"execution":[67],"module":[68],"real":[70],"time":[71],"with":[72],"tool":[73],"tip":[74],"speeds":[75],"about":[77],"3":[78],"in/s.":[79]},"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}