{"id":"https://openalex.org/W4283756722","doi":"https://doi.org/10.1109/lra.2022.3191170","title":"Collaborative Navigation and Manipulation of a Cable-Towed Load by Multiple Quadrupedal Robots","display_name":"Collaborative Navigation and Manipulation of a Cable-Towed Load by Multiple Quadrupedal Robots","publication_year":2022,"publication_date":"2022-07-15","ids":{"openalex":"https://openalex.org/W4283756722","doi":"https://doi.org/10.1109/lra.2022.3191170"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3191170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3191170","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/A5101678003","display_name":"Chenyu Yang","orcid":"https://orcid.org/0000-0001-9997-4929"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chenyu Yang","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072222700","display_name":"Guo Ning Sue","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guo Ning Sue","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100735594","display_name":"Zhongyu Li","orcid":"https://orcid.org/0000-0001-8040-1098"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhongyu Li","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8040-1098","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041139710","display_name":"Lizhi Yang","orcid":"https://orcid.org/0000-0002-6101-7610"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lizhi Yang","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6101-7610","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108264720","display_name":"Haotian Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haotian Shen","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046255149","display_name":"Yufeng Chi","orcid":"https://orcid.org/0000-0002-3020-670X"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yufeng Chi","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007198769","display_name":"Akshara Rai","orcid":"https://orcid.org/0009-0005-5767-9848"},"institutions":[{"id":"https://openalex.org/I4210099336","display_name":"Menlo School","ror":"https://ror.org/01240pn49","country_code":"US","type":"education","lineage":["https://openalex.org/I4210099336"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Akshara Rai","raw_affiliation_strings":["Meta AI Research, Menlo Park, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Meta AI Research, Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210099336"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025019073","display_name":"Jun Zeng","orcid":"https://orcid.org/0000-0002-8049-042X"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jun Zeng","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8049-042X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054075105","display_name":"Koushil Sreenath","orcid":"https://orcid.org/0000-0002-5346-3637"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Koushil Sreenath","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5346-3637","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5101678003"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":3.3674,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.93715518,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"7","issue":"4","first_page":"10041","last_page":"10048"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983000159263611,"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":0.9979000091552734,"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/robot","display_name":"Robot","score":0.7284444570541382},{"id":"https://openalex.org/keywords/towing","display_name":"Towing","score":0.6867215633392334},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5995714664459229},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5829705595970154},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.570059061050415},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5316957235336304},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.49735167622566223},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4948963522911072},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.44832247495651245},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21328338980674744},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.19428104162216187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1910880208015442},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.1098070740699768}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7284444570541382},{"id":"https://openalex.org/C23927387","wikidata":"https://www.wikidata.org/wiki/Q332030","display_name":"Towing","level":2,"score":0.6867215633392334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5995714664459229},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5829705595970154},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.570059061050415},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5316957235336304},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.49735167622566223},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4948963522911072},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.44832247495651245},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21328338980674744},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.19428104162216187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1910880208015442},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.1098070740699768},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical 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},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3191170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3191170","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1568784080","https://openalex.org/W2062277997","https://openalex.org/W2079496302","https://openalex.org/W2104314621","https://openalex.org/W2415175524","https://openalex.org/W2770279027","https://openalex.org/W2788565917","https://openalex.org/W2794235589","https://openalex.org/W2891781757","https://openalex.org/W2948218505","https://openalex.org/W2962963881","https://openalex.org/W2968213087","https://openalex.org/W2972810470","https://openalex.org/W2972841490","https://openalex.org/W2981316255","https://openalex.org/W3003197188","https://openalex.org/W3005922959","https://openalex.org/W3015470607","https://openalex.org/W3129795333","https://openalex.org/W3155558376","https://openalex.org/W3161411321","https://openalex.org/W3189631921","https://openalex.org/W3199378951","https://openalex.org/W3203830790","https://openalex.org/W3206532678","https://openalex.org/W3207612633","https://openalex.org/W3211963501","https://openalex.org/W3212784830","https://openalex.org/W4225691553","https://openalex.org/W4289256693","https://openalex.org/W6767349745","https://openalex.org/W6769178650"],"related_works":["https://openalex.org/W2577530671","https://openalex.org/W2024750163","https://openalex.org/W2984029879","https://openalex.org/W836545484","https://openalex.org/W2393794252","https://openalex.org/W2579307190","https://openalex.org/W2316161804","https://openalex.org/W1981744917","https://openalex.org/W2580187285","https://openalex.org/W2360510466"],"abstract_inverted_index":{"This":[0],"letter":[1],"tackles":[2],"the":[3,34,51,61,66,73,129,142],"problem":[4,58,81,130],"of":[5,26,50,60,118,131,141],"robots":[6,71],"collaboratively":[7],"towing":[8],"a":[9,14,56,80,97,102,116,152,162],"load":[10,133],"with":[11,101,109,168],"cables":[12,27],"to":[13,30,37,127,150,159],"specified":[15],"goal":[16],"location":[17],"while":[18],"avoiding":[19,89],"collisions":[20],"in":[21,174],"real":[22],"time.":[23],"The":[24],"introduction":[25],"(as":[28],"opposed":[29],"rigid":[31],"links)":[32],"enables":[33,124],"robotic":[35],"team":[36],"travel":[38],"through":[39,47,165],"narrow":[40,166],"spaces":[41,167],"by":[42,161],"changing":[43],"its":[44],"intrinsic":[45],"dimensions":[46],"slack/taut":[48],"switches":[49,64],"cable.":[52],"However,":[53],"this":[54,93],"is":[55,148,156],"challenging":[57],"because":[59],"hybrid":[62,110],"mode":[63,111],"and":[65,72,85,138,171],"dynamical":[67],"coupling":[68],"among":[69],"multiple":[70],"load.":[74],"Previous":[75],"attempts":[76],"at":[77],"addressing":[78],"such":[79],"were":[82],"performed":[83],"offline":[84],"do":[86],"not":[87],"consider":[88],"obstacles":[90],"online.":[91,135],"In":[92],"letter,":[94],"we":[95],"introduce":[96],"cascaded":[98],"planning":[99,173],"scheme":[100],"parallelized":[103],"centralized":[104],"trajectory":[105],"optimization":[106],"that":[107,147],"deals":[108],"switches.":[112],"We":[113,136],"additionally":[114],"develop":[115,137],"set":[117],"decentralized":[119],"planners":[120],"per":[121],"robot,":[122,164],"which":[123,155],"our":[125],"approach":[126],"solve":[128],"collaborative":[132,144],"manipulation":[134],"demonstrate":[139],"one":[140],"first":[143],"autonomy":[145],"framework":[146],"able":[149],"move":[151,160],"cable-towed":[153],"load,":[154],"too":[157],"heavy":[158],"single":[163],"real-time":[169],"feedback":[170],"reactive":[172],"experiments.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}