{"id":"https://openalex.org/W4311187070","doi":"https://doi.org/10.1109/lcsys.2022.3224685","title":"Invariant Configuration-Space Bubbles for Revolute Serial-Chain Robots","display_name":"Invariant Configuration-Space Bubbles for Revolute Serial-Chain Robots","publication_year":2022,"publication_date":"2022-11-24","ids":{"openalex":"https://openalex.org/W4311187070","doi":"https://doi.org/10.1109/lcsys.2022.3224685"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2022.3224685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2022.3224685","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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 Control Systems Letters","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/A5072891938","display_name":"Claus Danielson","orcid":"https://orcid.org/0000-0002-2317-3014"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Claus Danielson","raw_affiliation_strings":["Department of Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA"],"raw_orcid":"https://orcid.org/0000-0002-2317-3014","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5072891938"],"corresponding_institution_ids":["https://openalex.org/I169521973"],"apc_list":null,"apc_paid":null,"fwci":0.6122,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.6828894,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"7","issue":null,"first_page":"745","last_page":"750"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9986000061035156,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9958000183105469,"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/control-theory","display_name":"Control theory (sociology)","score":0.7118585109710693},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.6902524828910828},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.4976232349872589},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44924068450927734},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.43656009435653687},{"id":"https://openalex.org/keywords/governor","display_name":"Governor","score":0.43145552277565},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3747670352458954},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2619527280330658},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21006882190704346},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17516767978668213}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7118585109710693},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.6902524828910828},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.4976232349872589},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44924068450927734},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.43656009435653687},{"id":"https://openalex.org/C2781233147","wikidata":"https://www.wikidata.org/wiki/Q3229617","display_name":"Governor","level":2,"score":0.43145552277565},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3747670352458954},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2619527280330658},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21006882190704346},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17516767978668213},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lcsys.2022.3224685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2022.3224685","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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 Control Systems Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G5916674007","display_name":null,"funder_award_id":"FA9550-22-1-0093","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"},{"id":"https://openalex.org/G7676007272","display_name":null,"funder_award_id":"CMMI-2105631","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1880805667","https://openalex.org/W1971086298","https://openalex.org/W1986689506","https://openalex.org/W2000359213","https://openalex.org/W2056296063","https://openalex.org/W2100538121","https://openalex.org/W2338205278","https://openalex.org/W2419652719","https://openalex.org/W2513988836","https://openalex.org/W2536620281","https://openalex.org/W2603471005","https://openalex.org/W2764291795","https://openalex.org/W2789442532","https://openalex.org/W2963114352","https://openalex.org/W2968945909","https://openalex.org/W2990232926","https://openalex.org/W3041214784","https://openalex.org/W3046025647","https://openalex.org/W3048456101","https://openalex.org/W3090581846","https://openalex.org/W4205424091"],"related_works":["https://openalex.org/W2883550785","https://openalex.org/W2890977713","https://openalex.org/W2123089778","https://openalex.org/W2899776278","https://openalex.org/W2116626317","https://openalex.org/W2790463165","https://openalex.org/W2065877964","https://openalex.org/W3203991670","https://openalex.org/W2364421152","https://openalex.org/W2082714500"],"abstract_inverted_index":{"This":[0,54],"letter":[1],"adapts":[2],"the":[3,22,46,50],"invariant-set":[4],"motion":[5,10],"planner":[6],"(ISMP)":[7],"for":[8],"robot":[9],"planning.":[11],"We":[12,39,70,89],"derive":[13],"control":[14,37,73,83],"invariant":[15,74],"subsets":[16],"of":[17,49],"configuration-space":[18],"bubbles":[19],"lifted":[20],"into":[21,65],"state-space.":[23],"The":[24],"resulting":[25],"sets":[26,75],"guarantee":[27],"collision":[28,87],"avoidance":[29],"since":[30],"they":[31],"are":[32],"both":[33],"constraint":[34,67],"admissible":[35],"and":[36,82],"invariant.":[38],"present":[40],"a":[41,66,78],"command":[42],"governor":[43,55],"that":[44,85],"enforces":[45],"positive":[47],"invariance":[48],"constraints":[51],"in":[52],"closed-loop.":[53],"can":[56],"be":[57],"used":[58],"to":[59,76],"transform":[60],"any":[61],"nominal":[62],"tracking":[63],"controller":[64],"enforcing":[68],"controller.":[69],"use":[71],"these":[72],"quantify":[77],"relationship":[79],"between":[80],"velocity":[81],"authority":[84],"enables":[86],"avoidance.":[88],"demonstrate":[90],"our":[91],"invariant-sets":[92],"through":[93],"an":[94],"illustrative":[95],"numerical":[96],"example.":[97]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}