{"id":"https://openalex.org/W3039274615","doi":"https://doi.org/10.1109/robot.1987.1087810","title":"Uncertain geometry in robotics","display_name":"Uncertain geometry in robotics","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W3039274615","doi":"https://doi.org/10.1109/robot.1987.1087810","mag":"3039274615"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1087810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087810","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5113671184","display_name":"Hugh Durrant\u2010Whyte","orcid":null},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"H. Durrant-Whyte","raw_affiliation_strings":["Department of Engineering Science, University of Oxford, Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Science, University of Oxford, Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5113671184"],"corresponding_institution_ids":["https://openalex.org/I40120149"],"apc_list":null,"apc_paid":null,"fwci":26.55,"has_fulltext":false,"cited_by_count":205,"citation_normalized_percentile":{"value":0.99842497,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"4","issue":null,"first_page":"851","last_page":"856"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9922999739646912,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.7933876514434814},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.692389726638794},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6759156584739685},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5917218327522278},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5638688802719116},{"id":"https://openalex.org/keywords/computational-geometry","display_name":"Computational geometry","score":0.5090012550354004},{"id":"https://openalex.org/keywords/information-geometry","display_name":"Information geometry","score":0.4962647557258606},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4752754271030426},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.44923076033592224},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42844662070274353},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32083314657211304},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2326538860797882},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.20107975602149963}],"concepts":[{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.7933876514434814},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.692389726638794},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6759156584739685},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5917218327522278},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5638688802719116},{"id":"https://openalex.org/C29123130","wikidata":"https://www.wikidata.org/wiki/Q874709","display_name":"Computational geometry","level":2,"score":0.5090012550354004},{"id":"https://openalex.org/C109546454","wikidata":"https://www.wikidata.org/wiki/Q3798604","display_name":"Information geometry","level":4,"score":0.4962647557258606},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4752754271030426},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.44923076033592224},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42844662070274353},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32083314657211304},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2326538860797882},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.20107975602149963},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C12520029","wikidata":"https://www.wikidata.org/wiki/Q1147161","display_name":"Scalar curvature","level":3,"score":0.0},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1987.1087810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087810","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7400000095367432,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1532977286","https://openalex.org/W1539769924","https://openalex.org/W1559007363","https://openalex.org/W2067063617","https://openalex.org/W2091696547","https://openalex.org/W2094595508","https://openalex.org/W2100185791","https://openalex.org/W2134249763"],"related_works":["https://openalex.org/W2051058708","https://openalex.org/W2906611356","https://openalex.org/W2560035725","https://openalex.org/W2740851372","https://openalex.org/W4245363829","https://openalex.org/W1999637051","https://openalex.org/W4288574722","https://openalex.org/W1545821642","https://openalex.org/W2080240525","https://openalex.org/W2549815785"],"abstract_inverted_index":{"Robots":[0],"must":[1,42],"operate":[2,37],"in":[3,14,56,59,121],"an":[4,33,71,122],"environment":[5],"which":[6],"is":[7,12,132],"inherently":[8],"uncertain.":[9],"This":[10],"uncertainty":[11,55,66],"important":[13,34],"areas":[15,27],"such":[16],"as":[17,70,86],"modeling,":[18],"planning":[19],"and":[20,25,49,107,109,116,124],"the":[21,52,98,137],"motion":[22],"of":[23,54,74,82,88,129,139],"manipulators":[24],"objects;":[26],"where":[28],"geometric":[29,76,84],"analysis":[30],"also":[31],"plays":[32],"part.":[35],"To":[36],"efficiently,":[38],"a":[39,60,80,93],"robot":[40],"system":[41],"be":[43,68,114],"able":[44],"to":[45,136],"represent,":[46],"account":[47],"for,":[48],"reason":[50],"about":[51],"effects":[53],"these":[57,130],"geometries":[58],"consistent":[61,125],"manner.":[62,126],"We":[63,78,102],"maintain":[64],"that":[65],"should":[67],"represented":[69],"intrinsic":[72],"part":[73],"all":[75],"descriptions.":[77],"develop":[79],"description":[81],"uncertain":[83,104],"features":[85],"families":[87],"parameterized":[89],"functions":[90],"together":[91],"with":[92],"distribution":[94],"function":[95],"defined":[96],"on":[97],"associated":[99],"parameter":[100],"vector.":[101],"consider":[103],"points,":[105],"curves":[106],"surfaces,":[108],"show":[110],"how":[111],"they":[112],"can":[113],"manipulated":[115],"transformed":[117],"between":[118],"coordinate":[119],"frames":[120],"efficient":[123],"The":[127],"effectiveness":[128],"techniques":[131],"demonstrated":[133],"by":[134],"application":[135],"problem":[138],"developing":[140],"maximal":[141],"information":[142],"sensing":[143],"strategies.":[144]},"counts_by_year":[{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":11}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}