{"id":"https://openalex.org/W2956317147","doi":"https://doi.org/10.1109/lra.2019.2927956","title":"Timed-Elastic Bands for Manipulation Motion Planning","display_name":"Timed-Elastic Bands for Manipulation Motion Planning","publication_year":2019,"publication_date":"2019-07-10","ids":{"openalex":"https://openalex.org/W2956317147","doi":"https://doi.org/10.1109/lra.2019.2927956","mag":"2956317147"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2927956","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2927956","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":true,"oa_status":"green","oa_url":"http://hdl.handle.net/2117/182055","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027195431","display_name":"Bence Magyar","orcid":"https://orcid.org/0000-0001-8455-8674"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Bence Magyar","raw_affiliation_strings":["Edinburgh Centre for Robotics, Heriot-Watt University, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0001-8455-8674","affiliations":[{"raw_affiliation_string":"Edinburgh Centre for Robotics, Heriot-Watt University, Edinburgh, U.K","institution_ids":["https://openalex.org/I32062511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021903197","display_name":"Nikolaos Tsiogkas","orcid":"https://orcid.org/0000-0003-2842-7316"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nikolaos Tsiogkas","raw_affiliation_strings":["Edinburgh Centre for Robotics, Heriot-Watt University, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0003-2842-7316","affiliations":[{"raw_affiliation_string":"Edinburgh Centre for Robotics, Heriot-Watt University, Edinburgh, U.K","institution_ids":["https://openalex.org/I32062511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022094347","display_name":"J\u00e9r\u00e9mie Deray","orcid":"https://orcid.org/0000-0001-5279-8251"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jeremie Deray","raw_affiliation_strings":["CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain"],"raw_orcid":"https://orcid.org/0000-0001-5279-8251","affiliations":[{"raw_affiliation_string":"CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030372262","display_name":"Sammy Pfeiffer","orcid":"https://orcid.org/0000-0002-6988-0400"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Sammy Pfeiffer","raw_affiliation_strings":["Centre for Artificial Intelligence, Innovation and Enterprise Research Lab, University of Technology Sydney, Sydney, N.S.W., Australia"],"raw_orcid":"https://orcid.org/0000-0002-6988-0400","affiliations":[{"raw_affiliation_string":"Centre for Artificial Intelligence, Innovation and Enterprise Research Lab, University of Technology Sydney, Sydney, N.S.W., Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113592636","display_name":"David M. Lane","orcid":null},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"David Lane","raw_affiliation_strings":["Edinburgh Centre for Robotics, Heriot-Watt University, Edinburgh, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Edinburgh Centre for Robotics, Heriot-Watt University, Edinburgh, U.K","institution_ids":["https://openalex.org/I32062511"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9152,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.79112539,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"4","issue":"4","first_page":"3513","last_page":"3520"},"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":0.9991000294685364,"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":0.9990000128746033,"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/smoothness","display_name":"Smoothness","score":0.7270201444625854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7211273908615112},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.698449969291687},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6121016144752502},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5615771412849426},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5520753860473633},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5150058269500732},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.489923894405365},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4872790575027466},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48250651359558105},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.4805032014846802},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4774516224861145},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.47667622566223145},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44064226746559143},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.42172741889953613},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33238089084625244},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1845703423023224},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07327231764793396}],"concepts":[{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.7270201444625854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7211273908615112},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.698449969291687},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6121016144752502},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5615771412849426},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5520753860473633},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5150058269500732},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.489923894405365},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4872790575027466},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48250651359558105},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4805032014846802},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4774516224861145},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.47667622566223145},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44064226746559143},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.42172741889953613},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33238089084625244},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1845703423023224},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07327231764793396},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/lra.2019.2927956","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2927956","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:oai:upcommons.upc.edu:2117/182055","is_oa":false,"landing_page_url":"https://hdl.handle.net/2117/182055","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:digital.csic.es:10261/202484","is_oa":false,"landing_page_url":"http://hdl.handle.net/10261/202484","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"art\u00edculo"},{"id":"pmh:oai:dnet:upcommonspor::cc11076a9ff3380766042786e51053ac","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/182055","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/submittedVersion"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/137707","is_oa":false,"landing_page_url":"http://hdl.handle.net/10453/137707","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:dnet:upcommonspor::cc11076a9ff3380766042786e51053ac","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/182055","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/submittedVersion"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.800000011920929}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1602973160","https://openalex.org/W1971086298","https://openalex.org/W1982864753","https://openalex.org/W2004139909","https://openalex.org/W2009812633","https://openalex.org/W2019965290","https://openalex.org/W2054585537","https://openalex.org/W2094862909","https://openalex.org/W2099893201","https://openalex.org/W2128990851","https://openalex.org/W2140899650","https://openalex.org/W2141664020","https://openalex.org/W2142224528","https://openalex.org/W2163061173","https://openalex.org/W2212786010","https://openalex.org/W2293883387","https://openalex.org/W2412669390","https://openalex.org/W2627062745","https://openalex.org/W2775416623","https://openalex.org/W2806448689","https://openalex.org/W2902093375","https://openalex.org/W2963930094","https://openalex.org/W4289145348","https://openalex.org/W6605295560","https://openalex.org/W6646126701","https://openalex.org/W6740017652"],"related_works":["https://openalex.org/W2049734152","https://openalex.org/W2799139340","https://openalex.org/W2510481787","https://openalex.org/W2000120653","https://openalex.org/W2037851209","https://openalex.org/W2354592180","https://openalex.org/W2176548496","https://openalex.org/W3016255411","https://openalex.org/W1962141875","https://openalex.org/W1570961203"],"abstract_inverted_index":{"Motion":[0],"planning":[1,73],"is":[2,16,98,110,124],"one":[3],"of":[4,12,44,59,94,138,141],"the":[5,10,20,50,70,82,85,92,139,142,147],"main":[6],"problems":[7],"studied":[8],"in":[9,115,132],"field":[11],"robotics.":[13],"However,":[14],"it":[15,97,123],"still":[17],"challenging":[18],"for":[19,57,68,87,156],"state-of-the-art":[21,113],"methods":[22,114,158],"to":[23,31,64,76,81,91,136,150,159],"handle":[24],"multiple":[25],"conditions":[26],"that":[27,122,137],"allow":[28],"better":[29],"paths":[30],"be":[32],"found.":[33],"For":[34],"example,":[35],"considering":[36],"joint":[37],"limits,":[38],"path":[39],"smoothness":[40],"and":[41,46,127],"a":[42,54,88,133,152],"mixture":[43],"Cartesian":[45],"joint-space":[47],"constraints":[48,80,103],"at":[49],"same":[51],"time":[52],"pose":[53],"significant":[55],"challenge":[56],"many":[58],"them.":[60],"This":[61,144],"letter":[62],"proposes":[63],"use":[65],"timed-elastic":[66],"bands":[67],"representing":[69],"manipulation":[71,117],"motion":[72],"problem,":[74],"allowing":[75],"apply":[77],"continuously":[78],"optimized":[79],"problem":[83],"during":[84],"search":[86],"solution.":[89],"Due":[90],"nature":[93],"our":[95],"method,":[96],"highly":[99],"extensible":[100],"with":[101],"new":[102],"or":[104],"optimization":[105],"objectives.":[106],"The":[107,119],"proposed":[108,148],"approach":[109],"compared":[111],"against":[112],"various":[116],"scenarios.":[118],"results":[120],"show":[121],"more":[125],"consistent":[126],"less":[128],"variant,":[129],"while":[130],"performing":[131],"comparable":[134],"manner":[135],"state":[140],"art.":[143],"behavior":[145],"allows":[146],"method":[149],"set":[151],"lower-bound":[153],"performance":[154],"guarantee":[155],"other":[157],"build":[160],"upon.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}