{"id":"https://openalex.org/W2790743156","doi":"https://doi.org/10.1109/lra.2018.2817684","title":"A Topological Approach to Workspace and Motion Planning for a Cable-Controlled Robot in Cluttered Environments","display_name":"A Topological Approach to Workspace and Motion Planning for a Cable-Controlled Robot in Cluttered Environments","publication_year":2018,"publication_date":"2018-03-21","ids":{"openalex":"https://openalex.org/W2790743156","doi":"https://doi.org/10.1109/lra.2018.2817684","mag":"2790743156"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2817684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2817684","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/A5050325026","display_name":"Xiaolong Wang","orcid":"https://orcid.org/0000-0001-7250-7298"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xiaolong Wang","raw_affiliation_strings":["Department of Mechanical Engineering and Mechanics, Lehigh University, Bethlehem, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Mechanics, Lehigh University, Bethlehem, PA, USA","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101463763","display_name":"Subhrajit Bhattacharya","orcid":"https://orcid.org/0000-0001-9139-054X"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Subhrajit Bhattacharya","raw_affiliation_strings":["Department of Mechanical Engineering and Mechanics, Lehigh University, Bethlehem, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Mechanics, Lehigh University, Bethlehem, PA, USA","institution_ids":["https://openalex.org/I186143895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5050325026"],"corresponding_institution_ids":["https://openalex.org/I186143895"],"apc_list":null,"apc_paid":null,"fwci":0.3191,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.60597977,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"3","issue":"3","first_page":"2600","last_page":"2607"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T12288","display_name":"Optimization and Search Problems","score":0.9858999848365784,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9663407802581787},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7733335494995117},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7238410711288452},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5235830545425415},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.47820210456848145},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4324610233306885},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.391487717628479},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3640124201774597},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3473381996154785},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33138614892959595},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25761768221855164},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.0873306393623352}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9663407802581787},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7733335494995117},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7238410711288452},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5235830545425415},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.47820210456848145},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4324610233306885},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.391487717628479},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3640124201774597},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3473381996154785},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33138614892959595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25761768221855164},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0873306393623352},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2817684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2817684","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":[{"id":"https://metadata.un.org/sdg/11","score":0.6800000071525574,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1990101796","https://openalex.org/W1992787855","https://openalex.org/W2001478433","https://openalex.org/W2008470229","https://openalex.org/W2021702776","https://openalex.org/W2043640786","https://openalex.org/W2069965629","https://openalex.org/W2094827274","https://openalex.org/W2097236113","https://openalex.org/W2104314621","https://openalex.org/W2109257377","https://openalex.org/W2133495469","https://openalex.org/W2170054904","https://openalex.org/W2413460265","https://openalex.org/W2413735606","https://openalex.org/W4253174929","https://openalex.org/W6679342229","https://openalex.org/W6734291943"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1999333556","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103"],"abstract_inverted_index":{"There":[0],"is":[1,55,103],"a":[2,26,106,135,138],"rising":[3],"demand":[4],"for":[5,42,90,175],"multiple-cable":[6,91],"controlled":[7,92],"robots":[8,93,119],"in":[9,73,94,165,182],"stadiums":[10],"or":[11],"warehouses":[12],"due":[13],"to":[14,39,47,64,104],"its":[15,155],"low":[16],"cost,":[17],"longer":[18],"operation":[19],"time,":[20],"and":[21,76,114,120,124,154,158,171],"higher":[22],"safety":[23],"standards.":[24],"In":[25,80],"cluttered":[27],"environment,":[28],"the":[29,43,50,53,66,70,74,85,109,112,131,146,151,176,180],"cables":[30,60,71],"can":[31,141],"wrap":[32],"around":[33],"obstacles,":[34],"but":[35],"careful":[36],"choice":[37],"needs":[38],"be":[40,142],"made":[41],"initial":[44],"cable":[45,115,149],"configurations":[46,116],"ensure":[48],"that":[49],"workspace":[51,88,113,153,169],"of":[52,59,69,87,111,117,137],"robot":[54,140],"optimized.":[56],"The":[57],"presence":[58],"makes":[61],"it":[62],"imperative":[63],"consider":[65],"homotopy":[67],"classes":[68],"both":[72],"design":[75],"motion":[77,125,156,163],"planning":[78,89,126,164],"problems.":[79,127],"this":[81],"letter,":[82],"we":[83],"study":[84],"problem":[86],"an":[95],"environment":[96],"with":[97],"polygonal":[98],"obstacles.":[99],"This":[100],"letter's":[101],"goal":[102],"establish":[105],"relationship":[107,147],"between":[108,148],"boundary":[110],"such":[118],"solve":[121],"related":[122],"optimization":[123,170],"We":[128,178],"first":[129],"analyze":[130],"conditions":[132],"under":[133],"which":[134],"configuration":[136],"cable-controlled":[139],"considered":[143],"valid,":[144],"discuss":[145],"configuration,":[150],"robot's":[152],"state,":[157],"using":[159],"graph":[160,167],"search":[161],"based":[162],"h-augmented":[166],"perform":[168],"compute":[172],"optimal":[173],"paths":[174],"robot.":[177],"demonstrated":[179],"algorithms":[181],"simulations.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
