{"id":"https://openalex.org/W2289299303","doi":"https://doi.org/10.1109/lra.2016.2519145","title":"Energy-Bounded Caging: Formal Definition and 2-D Energy Lower Bound Algorithm Based on Weighted Alpha Shapes","display_name":"Energy-Bounded Caging: Formal Definition and 2-D Energy Lower Bound Algorithm Based on Weighted Alpha Shapes","publication_year":2016,"publication_date":"2016-01-01","ids":{"openalex":"https://openalex.org/W2289299303","doi":"https://doi.org/10.1109/lra.2016.2519145","mag":"2289299303"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2519145","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2519145","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation 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/A5020901032","display_name":"Jeffrey Mahler","orcid":"https://orcid.org/0000-0003-3204-3024"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jeffrey Mahler","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018027629","display_name":"Florian T. Pokorny","orcid":"https://orcid.org/0000-0003-1114-6040"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Florian T. Pokorny","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008996507","display_name":"Zoe McCarthy","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zoe McCarthy","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044860343","display_name":"A. Frank van der Stappen","orcid":"https://orcid.org/0000-0001-7965-2818"},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"A. Frank van der Stappen","raw_affiliation_strings":["Department of Information and Computing Sciences, Utrecht University, Utrecht, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Department of Information and Computing Sciences, Utrecht University, Utrecht, The Netherlands","institution_ids":["https://openalex.org/I193662353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010019244","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0001-6747-9499"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["Department of Industrial Engineering and Operations Research, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering and Operations Research, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5020901032"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":7.5213,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.97117682,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"1","issue":"1","first_page":"508","last_page":"515"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9973999857902527,"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/bounded-function","display_name":"Bounded function","score":0.7952901124954224},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.5523489713668823},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5454422235488892},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5150994658470154},{"id":"https://openalex.org/keywords/alpha","display_name":"Alpha (finance)","score":0.4771256446838379},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4648273289203644},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.3381531238555908},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1551998257637024},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.15427377820014954}],"concepts":[{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.7952901124954224},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.5523489713668823},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5454422235488892},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5150994658470154},{"id":"https://openalex.org/C64943373","wikidata":"https://www.wikidata.org/wiki/Q2651003","display_name":"Alpha (finance)","level":4,"score":0.4771256446838379},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4648273289203644},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.3381531238555908},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1551998257637024},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.15427377820014954},{"id":"https://openalex.org/C171606756","wikidata":"https://www.wikidata.org/wiki/Q506132","display_name":"Psychometrics","level":2,"score":0.0},{"id":"https://openalex.org/C49453240","wikidata":"https://www.wikidata.org/wiki/Q1592163","display_name":"Construct validity","level":3,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2016.2519145","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2519145","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:uu:oai:dspace.library.uu.nl:1874/346128","is_oa":false,"landing_page_url":"https://dspace.library.uu.nl/handle/1874/346128","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 1(1), 508. Institute of Electrical and Electronics Engineers Inc.","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8799999952316284,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G8968797657","display_name":null,"funder_award_id":"IIS-1227536","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/F4320306078","display_name":"U.S. Department of Defense","ror":"https://ror.org/0447fe631"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W127493627","https://openalex.org/W141244604","https://openalex.org/W181649851","https://openalex.org/W1424654272","https://openalex.org/W1505952289","https://openalex.org/W1559022906","https://openalex.org/W1603243397","https://openalex.org/W1627337892","https://openalex.org/W1675998861","https://openalex.org/W1794703952","https://openalex.org/W1806263934","https://openalex.org/W1820657498","https://openalex.org/W1890795085","https://openalex.org/W1976935191","https://openalex.org/W1981667747","https://openalex.org/W2007632642","https://openalex.org/W2021683594","https://openalex.org/W2025848827","https://openalex.org/W2029909232","https://openalex.org/W2033083202","https://openalex.org/W2035592451","https://openalex.org/W2047851369","https://openalex.org/W2057371826","https://openalex.org/W2059529748","https://openalex.org/W2068375174","https://openalex.org/W2071014748","https://openalex.org/W2078290150","https://openalex.org/W2081155016","https://openalex.org/W2088043683","https://openalex.org/W2101993361","https://openalex.org/W2103189462","https://openalex.org/W2104811860","https://openalex.org/W2107535513","https://openalex.org/W2108865768","https://openalex.org/W2110762409","https://openalex.org/W2114306020","https://openalex.org/W2116817751","https://openalex.org/W2123967128","https://openalex.org/W2124995771","https://openalex.org/W2139413415","https://openalex.org/W2161152516","https://openalex.org/W2161269358","https://openalex.org/W2163854193","https://openalex.org/W2164434413","https://openalex.org/W2169945387","https://openalex.org/W2189697003","https://openalex.org/W2284129080","https://openalex.org/W2296350386","https://openalex.org/W2611243847","https://openalex.org/W2989259058","https://openalex.org/W3040586665","https://openalex.org/W4230616527","https://openalex.org/W4241088297","https://openalex.org/W4285719527","https://openalex.org/W6605176619","https://openalex.org/W6607319537","https://openalex.org/W6635902785","https://openalex.org/W6638365565"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W3013085049","https://openalex.org/W1560496689","https://openalex.org/W1992739770","https://openalex.org/W4386900933","https://openalex.org/W2980963558","https://openalex.org/W4229058035","https://openalex.org/W3125672081","https://openalex.org/W2006389905","https://openalex.org/W4297797135"],"abstract_inverted_index":{"Caging":[0],"grasps":[1],"are":[2,50,220,276],"valuable":[3],"as":[4,48,68,84],"they":[5],"can":[6,133],"be":[7,41,265],"robust":[8],"to":[9,63,241,264],"bounded":[10],"variations":[11],"in":[12,43,143,156,267],"object":[13,27,35,121,181],"shape":[14],"and":[15,22,94,105,132,146,154,182,185,193,201,224,233,274],"pose,":[16],"do":[17],"not":[18,40],"depend":[19],"on":[20,110,140,257],"friction,":[21],"enable":[23],"transport":[24],"of":[25,33,97,129,151,173,180,252],"an":[26,34,64,86,250],"without":[28],"full":[29],"immobilization.":[30],"Complete":[31],"caging":[32,55],"is":[36,122,127,170,176],"useful":[37],"but":[38,261],"may":[39],"necessary":[42],"cases":[44],"where":[45,168],"forces":[46],"such":[47,67],"gravity":[49],"present.":[51],"This":[52,70],"letter":[53,71],"extends":[54],"theory":[56,150],"by":[57,218],"defining":[58],"energy-bounded":[59],"cages":[60],"with":[61,196,222,230,245],"respect":[62],"energy":[65,87,131],"field":[66],"gravity.":[69],"also":[72],"introduces":[73],"energy-bounded-cage-analysis-2-D":[74],"(EBCA-2-D),":[75],"a":[76,91,95,103,107,258,268],"sampling-based":[77],"algorithm":[78,228],"for":[79],"planar":[80],"analysis":[81],"that":[82,213,238],"takes":[83],"input":[85],"function":[88],"over":[89],"poses,":[90],"polygonal":[92,100,209],"object,":[93],"configuration":[96],"rigid":[98],"fixed":[99],"obstacles,":[101],"e.g.,":[102],"gripper,":[104],"returns":[106],"lower":[108,215,246],"bound":[109],"the":[111,116,120,130,136,147,171,177,214,227],"minimum":[112],"escape":[113,243],"energy.":[114,247],"In":[115],"special":[117],"case":[118],"when":[119],"completely":[123],"caged,":[124],"our":[125],"approach":[126],"independent":[128],"provably":[134],"verify":[135],"cage.":[137],"EBCA-2-D":[138,192,219],"builds":[139],"recent":[141],"results":[142],"collision":[144],"detection":[145],"computational":[148],"geometric":[149],"weighted":[152],"\u03b1-shapes":[153],"runs":[155],"O(s":[157],"<sup":[158,163],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[159,164],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[160,165],"+":[161],"sn":[162],")":[166],"time":[167],"s":[169],"number":[172,179],"samples,":[174],"n":[175,187],"total":[178],"obstacle":[183,204],"vertices,":[184],"typically":[186],"<;<;":[188],"s.":[189],"We":[190,211],"implemented":[191],"evaluated":[194],"it":[195],"nine":[197],"parallel-jaw":[198],"gripper":[199],"configurations":[200,205],"four":[202],"nonconvex":[203,208],"across":[206],"six":[207],"objects.":[210],"found":[212],"bounds":[216],"returned":[217],"consistent":[221],"intuition,":[223],"we":[225],"verified":[226],"experimentally":[229],"Box2-D":[231],"simulations":[232],"RRT*":[234],"motion":[235],"planning":[236],"experiments":[237],"were":[239],"unable":[240],"find":[242],"paths":[244],"EBCA2-D":[248],"required":[249],"average":[251],"3":[253],"min":[254],"per":[255],"problem":[256],"single-core":[259],"processor":[260],"has":[262],"potential":[263],"parallelized":[266],"cloud-based":[269],"implementation.":[270],"Additional":[271],"proofs,":[272],"data,":[273],"code":[275],"available":[277],"at:":[278],"http://berkeleyautomation.github.io/caging/.":[279]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}