{"id":"https://openalex.org/W4226161405","doi":"https://doi.org/10.1109/robio54168.2021.9739360","title":"Manipulator motion planning based on task-space constraint guidance","display_name":"Manipulator motion planning based on task-space constraint guidance","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4226161405","doi":"https://doi.org/10.1109/robio54168.2021.9739360"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739360","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739360","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5100344294","display_name":"Wei Chen","orcid":"https://orcid.org/0000-0001-5090-9915"},"institutions":[{"id":"https://openalex.org/I3174185376","display_name":"China South Industries Group (China)","ror":"https://ror.org/04n0f2b96","country_code":"CN","type":"company","lineage":["https://openalex.org/I3174185376"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wei Chen","raw_affiliation_strings":["Automation Research Institute Co., Ltd. of China South Industries Group,Weapon Equipment Information &#x0026; Control Technology Innovation Center,Mianyang,China"],"affiliations":[{"raw_affiliation_string":"Automation Research Institute Co., Ltd. of China South Industries Group,Weapon Equipment Information &#x0026; Control Technology Innovation Center,Mianyang,China","institution_ids":["https://openalex.org/I3174185376"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051919128","display_name":"Jiangping Wang","orcid":"https://orcid.org/0000-0001-5960-1853"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangping Wang","raw_affiliation_strings":["Zhejiang Lab,Intelligent Robot Research Center,Hangzhou,China","Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Intelligent Robot Research Center,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100785431","display_name":"Chenhao Wang","orcid":"https://orcid.org/0009-0009-0612-9845"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenhao Wang","raw_affiliation_strings":["Zhejiang Lab,Intelligent Robot Research Center,Hangzhou,China","Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Intelligent Robot Research Center,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100308848","display_name":"Jun Lv","orcid":"https://orcid.org/0000-0003-4328-0420"},"institutions":[{"id":"https://openalex.org/I4210159154","display_name":"Yiwu Science and Technology Research Institute","ror":"https://ror.org/04kvstc88","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210159154","https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Lv","raw_affiliation_strings":["Yiwu Industrial &#x0026; Commercial College,School of Mechatronics &#x0026; IT,Yiwu,China"],"affiliations":[{"raw_affiliation_string":"Yiwu Industrial &#x0026; Commercial College,School of Mechatronics &#x0026; IT,Yiwu,China","institution_ids":["https://openalex.org/I4210159154"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100344294"],"corresponding_institution_ids":["https://openalex.org/I3174185376"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22825461,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"37","issue":null,"first_page":"502","last_page":"507"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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"}},{"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/motion-planning","display_name":"Motion planning","score":0.7584823369979858},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5915942192077637},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5744008421897888},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5515494346618652},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.53073650598526},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.5226882696151733},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.5028557181358337},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5000035762786865},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4819616973400116},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.4330526292324066},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.415408730506897},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2786223888397217},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24172493815422058},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13022467494010925}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7584823369979858},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5915942192077637},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5744008421897888},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5515494346618652},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.53073650598526},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5226882696151733},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.5028557181358337},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5000035762786865},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4819616973400116},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.4330526292324066},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.415408730506897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2786223888397217},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24172493815422058},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13022467494010925},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739360","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739360","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6899999976158142,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W2009124734","https://openalex.org/W2046379366","https://openalex.org/W2055201760","https://openalex.org/W2095668460","https://openalex.org/W2097433753","https://openalex.org/W2103776982","https://openalex.org/W2110762409","https://openalex.org/W2134447392","https://openalex.org/W2146467128","https://openalex.org/W2153628631","https://openalex.org/W2792806200","https://openalex.org/W2891385711","https://openalex.org/W2901136733","https://openalex.org/W2928801035","https://openalex.org/W2971244547","https://openalex.org/W3043649182","https://openalex.org/W3096471888","https://openalex.org/W3105267091","https://openalex.org/W3118386781","https://openalex.org/W6674665873","https://openalex.org/W6681417966","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2107702345","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W2389713625","https://openalex.org/W4285205381","https://openalex.org/W2160082631","https://openalex.org/W4311133829","https://openalex.org/W2319810781","https://openalex.org/W4282823369"],"abstract_inverted_index":{"Sampling-based":[0],"motion":[1,44],"planning":[2,17,31],"algorithms":[3],"with":[4,102],"task-space":[5,33],"guidance":[6],"have":[7],"been":[8],"proved":[9],"to":[10,42,78],"work":[11],"efficiently":[12],"in":[13,32,36,45],"solving":[14],"task-constrained":[15],"manipulator":[16],"problem":[18],"as":[19],"the":[20,26,49,52,82,87,92,95,98,103,108,114,126,132],"planned":[21],"end-effector":[22],"path":[23],"can":[24,85],"satisfy":[25,86],"task":[27,88],"constraints":[28],"directly.":[29,90],"However,":[30],"rather":[34],"than":[35],"configuration":[37],"space":[38],"(C-space)":[39],"may":[40],"lead":[41],"discontinuous":[43],"joint":[46],"space,":[47],"especially":[48],"connection":[50],"of":[51,94,107,125],"bidirectional":[53,109],"tree.":[54],"In":[55],"this":[56],"paper,":[57],"a":[58,73,119],"Progressive":[59],"Constraint":[60],"Extension":[61],"Bi-direction":[62],"Rapidly":[63],"Exploring":[64],"Random":[65],"Trees":[66],"(PCE-BiRRT)":[67],"algorithm":[68,100,128],"is":[69,129],"presented,":[70],"which":[71],"adopts":[72],"progressive":[74],"constraint":[75,89],"expansion":[76],"strategy":[77],"make":[79],"sure":[80],"that":[81],"sampling":[83],"configurations":[84],"For":[91],"smoothness":[93],"bidirectional-tree":[96],"connection,":[97],"proposed":[99],"deals":[101],"\"connection":[104],"failure":[105],"problem\"":[106],"exploring":[110],"tree":[111],"by":[112,138],"limiting":[113],"connecting":[115],"range":[116],"and":[117],"choosing":[118],"property":[120],"redundancy":[121],"resolution.":[122],"The":[123],"effectiveness":[124],"PCE-BiRRT":[127],"tested":[130],"on":[131],"robot":[133],"operating":[134],"system":[135],"(ROS)":[136],"platform":[137],"an":[139],"orientation-constrained":[140],"case.":[141]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
