{"id":"https://openalex.org/W4285264336","doi":"https://doi.org/10.1109/lra.2022.3183529","title":"Cooperative Towing by Multi-Robot System That Maintains Welding Cable in Optimized Shape","display_name":"Cooperative Towing by Multi-Robot System That Maintains Welding Cable in Optimized Shape","publication_year":2022,"publication_date":"2022-06-16","ids":{"openalex":"https://openalex.org/W4285264336","doi":"https://doi.org/10.1109/lra.2022.3183529"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3183529","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3183529","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9831196/09797807.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/9831196/09797807.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019384820","display_name":"Ryota Suzuki","orcid":"https://orcid.org/0000-0002-8940-3695"},"institutions":[{"id":"https://openalex.org/I4210093896","display_name":"Tohoku University Hospital","ror":"https://ror.org/00kcd6x60","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210093896"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ryota Suzuki","raw_affiliation_strings":["Tohoku University, Sendai, Miyagi, Japan"],"raw_orcid":"https://orcid.org/0000-0002-8940-3695","affiliations":[{"raw_affiliation_string":"Tohoku University, Sendai, Miyagi, Japan","institution_ids":["https://openalex.org/I4210093896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073956776","display_name":"Yoshito Okada","orcid":"https://orcid.org/0000-0003-3830-079X"},"institutions":[{"id":"https://openalex.org/I4210093896","display_name":"Tohoku University Hospital","ror":"https://ror.org/00kcd6x60","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210093896"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshito Okada","raw_affiliation_strings":["Tohoku University, Sendai, Miyagi, Japan"],"raw_orcid":"https://orcid.org/0000-0003-3830-079X","affiliations":[{"raw_affiliation_string":"Tohoku University, Sendai, Miyagi, Japan","institution_ids":["https://openalex.org/I4210093896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001838638","display_name":"Yoshiki Yokota","orcid":"https://orcid.org/0000-0003-0176-6959"},"institutions":[{"id":"https://openalex.org/I4210093896","display_name":"Tohoku University Hospital","ror":"https://ror.org/00kcd6x60","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210093896"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshiki Yokota","raw_affiliation_strings":["Tohoku University, Sendai, Miyagi, Japan"],"raw_orcid":"https://orcid.org/0000-0003-0176-6959","affiliations":[{"raw_affiliation_string":"Tohoku University, Sendai, Miyagi, Japan","institution_ids":["https://openalex.org/I4210093896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018253631","display_name":"Tatsuyoshi Saijo","orcid":"https://orcid.org/0000-0001-7216-5611"},"institutions":[{"id":"https://openalex.org/I4210093896","display_name":"Tohoku University Hospital","ror":"https://ror.org/00kcd6x60","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210093896"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuyoshi Saijo","raw_affiliation_strings":["Tohoku University, Sendai, Miyagi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University, Sendai, Miyagi, Japan","institution_ids":["https://openalex.org/I4210093896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034422649","display_name":"Haruhiko Eto","orcid":"https://orcid.org/0000-0002-7552-4621"},"institutions":[{"id":"https://openalex.org/I197507943","display_name":"Sumitomo Heavy Industries (Japan)","ror":"https://ror.org/03yskk486","country_code":"JP","type":"company","lineage":["https://openalex.org/I197507943"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Haruhiko Eto","raw_affiliation_strings":["Technology Research Center, Sumitomo Heavy Industries, Ltd., Shinagawa City, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7552-4621","affiliations":[{"raw_affiliation_string":"Technology Research Center, Sumitomo Heavy Industries, Ltd., Shinagawa City, Tokyo, Japan","institution_ids":["https://openalex.org/I197507943"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085433633","display_name":"Yuya Sakai","orcid":"https://orcid.org/0000-0002-2260-3297"},"institutions":[{"id":"https://openalex.org/I197507943","display_name":"Sumitomo Heavy Industries (Japan)","ror":"https://ror.org/03yskk486","country_code":"JP","type":"company","lineage":["https://openalex.org/I197507943"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuya Sakai","raw_affiliation_strings":["Technology Research Center, Sumitomo Heavy Industries, Ltd., Shinagawa City, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2260-3297","affiliations":[{"raw_affiliation_string":"Technology Research Center, Sumitomo Heavy Industries, Ltd., Shinagawa City, Tokyo, Japan","institution_ids":["https://openalex.org/I197507943"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065028710","display_name":"Kenichi Murano","orcid":null},"institutions":[{"id":"https://openalex.org/I197507943","display_name":"Sumitomo Heavy Industries (Japan)","ror":"https://ror.org/03yskk486","country_code":"JP","type":"company","lineage":["https://openalex.org/I197507943"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenichi Murano","raw_affiliation_strings":["Technology Research Center, Sumitomo Heavy Industries, Ltd., Shinagawa City, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-1039-1098","affiliations":[{"raw_affiliation_string":"Technology Research Center, Sumitomo Heavy Industries, Ltd., Shinagawa City, Tokyo, Japan","institution_ids":["https://openalex.org/I197507943"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055778007","display_name":"Kazunori Ohno","orcid":"https://orcid.org/0000-0003-3958-2901"},"institutions":[{"id":"https://openalex.org/I4210093896","display_name":"Tohoku University Hospital","ror":"https://ror.org/00kcd6x60","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210093896"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazunori Ohno","raw_affiliation_strings":["Tohoku University, Sendai, Miyagi, Japan"],"raw_orcid":"https://orcid.org/0000-0003-3958-2901","affiliations":[{"raw_affiliation_string":"Tohoku University, Sendai, Miyagi, Japan","institution_ids":["https://openalex.org/I4210093896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016736580","display_name":"Kenjiro Tadakuma","orcid":"https://orcid.org/0000-0003-2035-0617"},"institutions":[{"id":"https://openalex.org/I4210093896","display_name":"Tohoku University Hospital","ror":"https://ror.org/00kcd6x60","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210093896"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenjiro Tadakuma","raw_affiliation_strings":["Tohoku University, Sendai, Miyagi, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2035-0617","affiliations":[{"raw_affiliation_string":"Tohoku University, Sendai, Miyagi, Japan","institution_ids":["https://openalex.org/I4210093896"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014118063","display_name":"Satosh\u0131 Tadokoro","orcid":"https://orcid.org/0000-0002-5571-4276"},"institutions":[{"id":"https://openalex.org/I4210093896","display_name":"Tohoku University Hospital","ror":"https://ror.org/00kcd6x60","country_code":"JP","type":"healthcare","lineage":["https://openalex.org/I4210093896"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Tadokoro","raw_affiliation_strings":["Tohoku University, Sendai, Miyagi, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5571-4276","affiliations":[{"raw_affiliation_string":"Tohoku University, Sendai, Miyagi, Japan","institution_ids":["https://openalex.org/I4210093896"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5019384820"],"corresponding_institution_ids":["https://openalex.org/I4210093896"],"apc_list":null,"apc_paid":null,"fwci":0.8127,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.72676668,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"7","issue":"4","first_page":"11783","last_page":"11790"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.9993000030517578,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9959999918937683,"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":0.9950000047683716,"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/towing","display_name":"Towing","score":0.9085466861724854},{"id":"https://openalex.org/keywords/welding","display_name":"Welding","score":0.833184540271759},{"id":"https://openalex.org/keywords/robot-welding","display_name":"Robot welding","score":0.7632508277893066},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6481392979621887},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5775095224380493},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4376535713672638},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.4228476583957672},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3597056269645691},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34832966327667236},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.326664000749588},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24081173539161682}],"concepts":[{"id":"https://openalex.org/C23927387","wikidata":"https://www.wikidata.org/wiki/Q332030","display_name":"Towing","level":2,"score":0.9085466861724854},{"id":"https://openalex.org/C19474535","wikidata":"https://www.wikidata.org/wiki/Q131172","display_name":"Welding","level":2,"score":0.833184540271759},{"id":"https://openalex.org/C118198166","wikidata":"https://www.wikidata.org/wiki/Q2327264","display_name":"Robot welding","level":3,"score":0.7632508277893066},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6481392979621887},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5775095224380493},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4376535713672638},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4228476583957672},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3597056269645691},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34832966327667236},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.326664000749588},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24081173539161682}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3183529","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3183529","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9831196/09797807.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2022.3183529","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3183529","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9831196/09797807.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285264336.pdf","grobid_xml":"https://content.openalex.org/works/W4285264336.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1772493338","https://openalex.org/W1981542496","https://openalex.org/W1986121064","https://openalex.org/W1989161288","https://openalex.org/W1991229842","https://openalex.org/W2096921996","https://openalex.org/W2169834990","https://openalex.org/W2409622231","https://openalex.org/W2564827373","https://openalex.org/W2574349476","https://openalex.org/W2802271288","https://openalex.org/W2805530149","https://openalex.org/W2912984848","https://openalex.org/W3006809349","https://openalex.org/W3043921574","https://openalex.org/W3089537413","https://openalex.org/W3164580640","https://openalex.org/W3165122292","https://openalex.org/W3207049296","https://openalex.org/W3213490840","https://openalex.org/W7005955626"],"related_works":["https://openalex.org/W2351841182","https://openalex.org/W2394291532","https://openalex.org/W139474440","https://openalex.org/W1493019143","https://openalex.org/W4255120876","https://openalex.org/W4309271577","https://openalex.org/W598266188","https://openalex.org/W2811339947","https://openalex.org/W2973508084","https://openalex.org/W4390282267"],"abstract_inverted_index":{"As":[0],"considerable":[1],"amounts":[2],"of":[3,67,124,143,178,188],"welding":[4,17,32,41,98,172],"are":[5,85],"required":[6],"during":[7],"ship":[8],"construction,":[9],"robotic":[10],"automation":[11],"is":[12,30,128],"being":[13],"promoted.":[14],"However,":[15],"current":[16,148],"robots":[18],"do":[19],"not":[20,106],"automate":[21],"work":[22],"in":[23,70,160,174],"high":[24,71],"or":[25],"narrow":[26,73],"places.":[27],"One":[28],"reason":[29],"that":[31,135],"cannot":[33,46],"be":[34,107,116],"performed":[35],"with":[36,43,170],"sufficient":[37],"accuracy":[38],"because":[39],"a":[40,44,48,60,171,175],"robot":[42],"torch":[45,173],"tow":[47,167],"heavy":[49],"cable":[50,90,104,149,169],"and":[51,72,110,139,157,187],"thus":[52],"may":[53],"go":[54],"off":[55],"path.":[56],"This":[57],"letter":[58],"proposes":[59],"multi-robot":[61],"system":[62],"for":[63],"automating":[64],"the":[65,80,88,93,96,103,119,125,141,146,168,200],"execution":[66],"long":[68],"welds":[69],"places":[74],"to":[75,91,166],"address":[76],"this":[77],"problem.":[78],"In":[79,100],"proposed":[81,120],"method,":[82,121],"towing":[83,126],"vehicles":[84,127],"placed":[86],"along":[87],"supply":[89],"reduce":[92],"load":[94],"on":[95],"lead":[97,201],"vehicle.":[99],"confined-space":[101],"welding,":[102],"must":[105,115],"excessively":[108],"loaded,":[109],"obstacles":[111],"such":[112],"as":[113],"walls":[114],"avoided.":[117],"Under":[118],"autonomous":[122],"movement":[123],"achieved":[129],"by":[130],"solving":[131],"an":[132],"optimization":[133],"problem":[134],"considers":[136],"these":[137],"aims":[138],"minimizes":[140],"amount":[142],"change":[144],"from":[145],"estimated":[147],"shape.":[150],"The":[151],"method":[152],"was":[153,163],"evaluated":[154],"through":[155],"simulation":[156],"real-world":[158],"tests,":[159],"which":[161],"it":[162],"applied":[164],"successfully":[165],"working":[176],"area":[177],"2.6":[179],"\u00d7":[180,190],"10":[181],"m":[182,192],"<sup":[183,193],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[184,194],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[185,195],"(simulation)":[186],"3.4":[189],"5.5":[191],"(real-world":[196],"environment)":[197],"without":[198],"disturbing":[199],"vehicle's":[202],"movement.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}