{"id":"https://openalex.org/W2757858194","doi":"https://doi.org/10.1109/lra.2017.2755078","title":"Task and Motion Planning for Manipulator Arms With Metric Temporal Logic Specifications","display_name":"Task and Motion Planning for Manipulator Arms With Metric Temporal Logic Specifications","publication_year":2017,"publication_date":"2017-09-21","ids":{"openalex":"https://openalex.org/W2757858194","doi":"https://doi.org/10.1109/lra.2017.2755078","mag":"2757858194"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2755078","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2755078","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/A5067194240","display_name":"Sayan Saha","orcid":"https://orcid.org/0000-0002-9028-3600"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sayan Saha","raw_affiliation_strings":["Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA"],"raw_orcid":"https://orcid.org/0000-0002-9028-3600","affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA","institution_ids":["https://openalex.org/I165799507"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029921181","display_name":"A. Agung Julius","orcid":"https://orcid.org/0000-0002-0970-3226"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anak Agung Julius","raw_affiliation_strings":["Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA"],"raw_orcid":"https://orcid.org/0000-0002-0970-3226","affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA","institution_ids":["https://openalex.org/I165799507"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5067194240"],"corresponding_institution_ids":["https://openalex.org/I165799507"],"apc_list":null,"apc_paid":null,"fwci":0.3698,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.69623186,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"3","issue":"1","first_page":"379","last_page":"386"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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":0.9988999962806702,"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/T10142","display_name":"Formal Methods in Verification","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9933000206947327,"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/task","display_name":"Task (project management)","score":0.7642233371734619},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7002874612808228},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6419714093208313},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5798349380493164},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.563746452331543},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5615851283073425},{"id":"https://openalex.org/keywords/gradient-descent","display_name":"Gradient descent","score":0.49796223640441895},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4578058421611786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4336111545562744},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4173749089241028},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34030961990356445},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3395063281059265},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13842546939849854},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.08826130628585815}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7642233371734619},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7002874612808228},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6419714093208313},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5798349380493164},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.563746452331543},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5615851283073425},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.49796223640441895},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4578058421611786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4336111545562744},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4173749089241028},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34030961990356445},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3395063281059265},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13842546939849854},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.08826130628585815},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2017.2755078","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2755078","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3781219890","display_name":null,"funder_award_id":"CNS-1218109","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6062704166","display_name":null,"funder_award_id":"CNS-0953976","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8307879464","display_name":null,"funder_award_id":"CNS-1618369","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1545688112","https://openalex.org/W1563854815","https://openalex.org/W1564897360","https://openalex.org/W1974909294","https://openalex.org/W1986417217","https://openalex.org/W2004139909","https://openalex.org/W2013329639","https://openalex.org/W2013967953","https://openalex.org/W2016206563","https://openalex.org/W2023808162","https://openalex.org/W2032587419","https://openalex.org/W2041684917","https://openalex.org/W2048644716","https://openalex.org/W2049399166","https://openalex.org/W2056605754","https://openalex.org/W2071797744","https://openalex.org/W2075577325","https://openalex.org/W2092517048","https://openalex.org/W2128990851","https://openalex.org/W2131399618","https://openalex.org/W2141664020","https://openalex.org/W2141789581","https://openalex.org/W2141841102","https://openalex.org/W2150335178","https://openalex.org/W2161819990","https://openalex.org/W2166316739","https://openalex.org/W2383103400","https://openalex.org/W2468062401","https://openalex.org/W2536620281","https://openalex.org/W2963657380","https://openalex.org/W3151793825","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W3023605104","https://openalex.org/W2383578611","https://openalex.org/W2362018761"],"abstract_inverted_index":{"The":[0,90],"aim":[1],"is":[2,17,94],"to":[3,31,53,84,101,113],"synthesize":[4],"control":[5],"inputs":[6],"for":[7,77],"robotic":[8],"manipulator":[9,104],"arms":[10],"that":[11],"ensure":[12],"a":[13,21,44,55,108,128,132],"desired":[14,22],"task":[15,34,58,88,116,129],"specification":[16,59,130],"executed":[18],"while":[19],"optimizing":[20],"performance":[23],"objective.":[24],"We":[25,119],"use":[26],"metric":[27],"temporal":[28],"logic":[29],"(MTL)":[30],"express":[32],"the":[33,64,67,81,97,103,115,121],"specifications":[35],"defined":[36,60],"in":[37,61],"terms":[38,62],"of":[39,63,66,80,123],"manipulating":[40],"objects":[41],"and":[42,70],"implemented":[43],"hierarchical":[45],"method":[46,125],"combining":[47],"mixed":[48],"integer-linear":[49],"programming":[50],"(at":[51,75],"high-level)":[52],"obtain":[54],"candidate":[56,87],"MTL":[57],"location":[65],"arm":[68,105],"end-effector":[69],"gradient":[71,91],"descent":[72,92],"based":[73],"optimization":[74],"low-level)":[76],"automatic":[78],"synthesis":[79],"motion":[82],"plans":[83],"execute":[85],"such":[86],"specifications.":[89],"algorithm":[93],"performed":[95],"over":[96],"feasible":[98],"input":[99],"space":[100],"optimize":[102],"trajectory":[106],"from":[107],"given":[109],"arbitrary":[110],"initial":[111],"condition":[112],"perform":[114],"at":[117],"hand.":[118],"demonstrate":[120],"efficacy":[122],"our":[124],"by":[126],"simulating":[127],"on":[131],"Baxter":[133],"robot.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
