{"id":"https://openalex.org/W3000587705","doi":"https://doi.org/10.1109/ro-man46459.2019.8956330","title":"A Novel Image-based Path Planning Algorithm for Eye-in-Hand Visual Servoing of a Redundant Manipulator in a Human Centered Environment","display_name":"A Novel Image-based Path Planning Algorithm for Eye-in-Hand Visual Servoing of a Redundant Manipulator in a Human Centered Environment","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W3000587705","doi":"https://doi.org/10.1109/ro-man46459.2019.8956330","mag":"3000587705"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man46459.2019.8956330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man46459.2019.8956330","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-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/A5035254607","display_name":"Deepak Raina","orcid":"https://orcid.org/0000-0002-5863-6111"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"D. Raina","raw_affiliation_strings":["TCS Innovation Labs, Robotics,New Delhi,India","TCS Innovation Labs, Robotics, New Delhi, India"],"affiliations":[{"raw_affiliation_string":"TCS Innovation Labs, Robotics,New Delhi,India","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"TCS Innovation Labs, Robotics, New Delhi, India","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"P. Mithun","orcid":null},"institutions":[{"id":"https://openalex.org/I64189192","display_name":"International Institute of Information Technology, Hyderabad","ror":"https://ror.org/05f11g639","country_code":"IN","type":"education","lineage":["https://openalex.org/I64189192"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"P. Mithun","raw_affiliation_strings":["International Institute of Information Technology,Hyderabad,Telangana,India","International Institute of Information Technology, Hyderabad, Telangana, India"],"affiliations":[{"raw_affiliation_string":"International Institute of Information Technology,Hyderabad,Telangana,India","institution_ids":["https://openalex.org/I64189192"]},{"raw_affiliation_string":"International Institute of Information Technology, Hyderabad, Telangana, India","institution_ids":["https://openalex.org/I64189192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014630904","display_name":"Suril V. Shah","orcid":"https://orcid.org/0000-0002-6979-916X"},"institutions":[{"id":"https://openalex.org/I154549908","display_name":"Indian Institute of Technology Jodhpur","ror":"https://ror.org/03yacj906","country_code":"IN","type":"education","lineage":["https://openalex.org/I154549908"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"S. V. Shah","raw_affiliation_strings":["Indian Institute of Technology,Jodhpur,India","Indian Institute of Technology, Jodhpur, India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology,Jodhpur,India","institution_ids":["https://openalex.org/I154549908"]},{"raw_affiliation_string":"Indian Institute of Technology, Jodhpur, India","institution_ids":["https://openalex.org/I154549908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053838336","display_name":"Swagat Kumar","orcid":"https://orcid.org/0000-0001-7405-3445"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Kumar","raw_affiliation_strings":["TCS Innovation Labs, Robotics,New Delhi,India","TCS Innovation Labs, Robotics, New Delhi, India"],"affiliations":[{"raw_affiliation_string":"TCS Innovation Labs, Robotics,New Delhi,India","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"TCS Innovation Labs, Robotics, New Delhi, India","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5035254607"],"corresponding_institution_ids":["https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.16697667,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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/T10531","display_name":"Advanced Vision and Imaging","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/visual-servoing","display_name":"Visual servoing","score":0.8579524159431458},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7111539840698242},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6107915639877319},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6079989075660706},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5902206897735596},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5447337627410889},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5313138365745544},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.5227165818214417},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27097827196121216}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8579524159431458},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7111539840698242},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6107915639877319},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6079989075660706},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5902206897735596},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5447337627410889},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5313138365745544},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.5227165818214417},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27097827196121216},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ro-man46459.2019.8956330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man46459.2019.8956330","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/858de906-c5dd-4438-b10f-1308c7894d13","is_oa":false,"landing_page_url":"https://research.edgehill.ac.uk/en/publications/858de906-c5dd-4438-b10f-1308c7894d13","pdf_url":null,"source":{"id":"https://openalex.org/S4306402462","display_name":"Edge Hill University Research Information Repository (Edge Hill University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I165525304","host_organization_name":"Edge Hill University","host_organization_lineage":["https://openalex.org/I165525304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Raina, D, Mithun, P, Shah, S V & Kumar, S 2020, A Novel Image-based Path Planning Algorithm for Eye-in-Hand Visual Servoing of a Redundant Manipulator in a Human Centered Environment. in 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), IEEE, pp. 1-8, 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019, New Delhi, India, 14/10/19. https://doi.org/10.1109/RO-MAN46459.2019.8956330","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1987658035","https://openalex.org/W2004733654","https://openalex.org/W2024139303","https://openalex.org/W2091763021","https://openalex.org/W2099743546","https://openalex.org/W2105589804","https://openalex.org/W2113260111","https://openalex.org/W2120984190","https://openalex.org/W2125795624","https://openalex.org/W2167501464","https://openalex.org/W2171367852","https://openalex.org/W2318055712","https://openalex.org/W2565011248","https://openalex.org/W2565889732","https://openalex.org/W4229494571"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W3154539612"],"abstract_inverted_index":{"This":[0,65],"paper":[1],"presents":[2],"a":[3,14,17,58,134,150],"novel":[4],"image-based":[5],"path-planning":[6,55,103],"and":[7,56,93,115,125,145],"execution":[8],"framework":[9],"for":[10,54,123],"vision-based":[11],"control":[12],"of":[13,50,102,106,110,119],"robot":[15,44,151],"in":[16,84,152],"human":[18],"centered":[19],"environment.":[20],"The":[21,46,100],"proposed":[22],"method":[23,66],"involves":[24],"applying":[25],"Rapidly-exploring":[26],"Random":[27],"Tree":[28],"(RRT)":[29],"exploration":[30],"to":[31,70,138,148],"perform":[32],"Image-Based":[33],"Visual":[34],"Servoing":[35],"(IBVS)":[36],"while":[37],"satisfying":[38],"multiple":[39],"task":[40,90],"constraints":[41,72],"by":[42],"exploiting":[43],"redundancy.":[45],"methodology":[47],"incorporates":[48],"data-set":[49],"robot's":[51],"workspace":[52],"images":[53],"design":[57],"controller":[59],"based":[60],"on":[61,133],"visual":[62,120],"servoing":[63,121],"framework.":[64],"is":[67,142],"generic":[68],"enough":[69],"include":[71],"like":[73],"Field-of-View":[74],"(FoV)":[75],"limits,":[76,78],"joint":[77],"obstacles,":[79],"various":[80],"singularities,":[81],"occlusions":[82],"etc.":[83],"the":[85,98,107,117],"planning":[86],"stage":[87],"itself":[88],"using":[89],"function":[91],"approach":[92],"thereby":[94],"avoiding":[95],"them":[96],"during":[97],"execution.":[99],"use":[101,118],"eliminates":[104],"many":[105],"inherent":[108],"limitations":[109],"IBVS":[111],"with":[112],"eye-in-hand":[113],"configuration":[114],"makes":[116],"practical":[122],"dynamic":[124],"complex":[126],"environments.":[127,154],"Several":[128],"experiments":[129],"have":[130],"been":[131],"performed":[132],"UR5":[135],"robotic":[136],"manipulator":[137],"demonstrate":[139],"that":[140],"it":[141],"an":[143],"effective":[144],"robust":[146],"way":[147],"guide":[149],"such":[153]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}