{"id":"https://openalex.org/W3036206972","doi":"https://doi.org/10.1109/lra.2020.3003280","title":"New Formulation of Mixed-Integer Conic Programming for Globally Optimal Grasp Planning","display_name":"New Formulation of Mixed-Integer Conic Programming for Globally Optimal Grasp Planning","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3036206972","doi":"https://doi.org/10.1109/lra.2020.3003280","mag":"3036206972"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3003280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3003280","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/A5100343854","display_name":"Min Liu","orcid":"https://orcid.org/0000-0001-6406-4896"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]},{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN","US"],"is_corresponding":true,"raw_author_name":"Min Liu","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, USA","School of Computer, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"School of Computer, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016686740","display_name":"Zherong Pan","orcid":"https://orcid.org/0000-0001-9348-526X"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]},{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Zherong Pan","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, USA","School of Computer, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"School of Computer, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021481941","display_name":"Kai Xu","orcid":"https://orcid.org/0000-0002-7442-2383"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Xu","raw_affiliation_strings":["School of Computer, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"School of Computer, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004194238","display_name":"Dinesh Manocha","orcid":"https://orcid.org/0000-0001-7047-9801"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Manocha","raw_affiliation_strings":["Department of Computer Science and Electrical & Computer Engineering, University of Maryland at College Park, College Park, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Electrical & Computer Engineering, University of Maryland at College Park, College Park, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100343854"],"corresponding_institution_ids":["https://openalex.org/I114027177","https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":1.1724,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.81026081,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"1"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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":0.9986000061035156,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9958999752998352,"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/T10142","display_name":"Formal Methods in Verification","score":0.9861000180244446,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9132022261619568},{"id":"https://openalex.org/keywords/conic-section","display_name":"Conic section","score":0.7247779965400696},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.6236152648925781},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6218519806861877},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.585058331489563},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5629481077194214},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5100184082984924},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.504932701587677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4980003833770752},{"id":"https://openalex.org/keywords/integer","display_name":"Integer (computer science)","score":0.48388370871543884},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4716046452522278},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.44698476791381836},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3803403675556183},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36652353405952454},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28643798828125},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21362808346748352},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15950512886047363},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.06527596712112427}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9132022261619568},{"id":"https://openalex.org/C108598597","wikidata":"https://www.wikidata.org/wiki/Q124255","display_name":"Conic section","level":2,"score":0.7247779965400696},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.6236152648925781},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6218519806861877},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.585058331489563},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5629481077194214},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5100184082984924},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.504932701587677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4980003833770752},{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.48388370871543884},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4716046452522278},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.44698476791381836},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3803403675556183},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36652353405952454},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28643798828125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21362808346748352},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15950512886047363},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.06527596712112427},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.3003280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3003280","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","display_name":"Sustainable cities and communities","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4300566153","https://openalex.org/W2795378890","https://openalex.org/W2804689728","https://openalex.org/W2101719620","https://openalex.org/W1925942709","https://openalex.org/W2047683846","https://openalex.org/W2044902158","https://openalex.org/W2082154838","https://openalex.org/W2109912052","https://openalex.org/W1711527768"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,15,19,36,59,70,86,101,125],"two-level":[3],"branch-and-bound":[4],"(BB)":[5],"algorithm":[6],"to":[7,33],"compute":[8],"the":[9,27,41,78,82,129,136],"optimal":[10,109],"gripper":[11,38,83,110],"pose":[12,56],"that":[13,35,84,108],"maximizes":[14],"grasp":[16,44,63,131],"metric":[17],"in":[18,133],"restricted":[20],"search":[21],"space.":[22],"Our":[23,65,105],"method":[24],"can":[25,39,96,116],"take":[26],"gripper's":[28],"kinematics":[29,80],"feasibility":[30],"into":[31],"consideration":[32],"ensure":[34],"given":[37,60],"reach":[40],"set":[42,61],"of":[43,62,81,89,122,135],"points":[45],"without":[46],"collisions":[47],"or":[48],"predict":[49],"infeasibility":[50],"with":[51],"finite-time":[52],"termination":[53],"when":[54],"no":[55],"exists":[57],"for":[58,77,112],"points.":[64],"main":[66],"technical":[67],"contribution":[68],"is":[69,142],"novel":[71],"mixed-integer":[72],"conic":[73],"programming":[74],"(MICP)":[75],"formulation":[76],"inverse":[79],"uses":[85],"small":[87],"number":[88],"binary":[90],"variables":[91],"and":[92,128],"tightened":[93],"constraints,":[94],"which":[95],"be":[97,117],"efficiently":[98],"solved":[99],"via":[100],"low-level":[102],"BB":[103],"algorithm.":[104],"experiments":[106],"show":[107],"poses":[111],"various":[113],"target":[114],"objects":[115],"computed":[118,130],"taking":[119],"20-180":[120],"minutes":[121],"computation":[123],"on":[124],"desktop":[126],"machine":[127],"quality,":[132],"terms":[134],"Q":[137],"<sub":[138],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[139],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sub>":[140],"metric,":[141],"better":[143],"than":[144],"those":[145],"generated":[146],"using":[147],"sampling-based":[148],"planners.":[149]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
