{"id":"https://openalex.org/W2158991358","doi":"https://doi.org/10.1109/robot.2002.1014380","title":"Motion planning for heterogeneous modular mobile systems","display_name":"Motion planning for heterogeneous modular mobile systems","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2158991358","doi":"https://doi.org/10.1109/robot.2002.1014380","mag":"2158991358"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1014380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014380","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","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/A5057299610","display_name":"Sachin Chitta","orcid":"https://orcid.org/0000-0003-4859-6096"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Chitta","raw_affiliation_strings":["General Robotics Automation, Sensing and Perception (GRASP) Laboratory, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"General Robotics Automation, Sensing and Perception (GRASP) Laboratory, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085615904","display_name":"J.R. Ostrowski","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.R. Ostrowski","raw_affiliation_strings":["General Robotics Automation, Sensing and Perception (GRASP) Laboratory, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"General Robotics Automation, Sensing and Perception (GRASP) Laboratory, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":3.7763,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.93114904,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"4","issue":null,"first_page":"4077","last_page":"4082"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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/T12288","display_name":"Optimization and Search Problems","score":0.9860000014305115,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.9005974531173706},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7811697721481323},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7072445750236511},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6879336833953857},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6375369429588318},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.6162513494491577},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6064335703849792},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4920139014720917},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.47785016894340515},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.47262832522392273},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40847423672676086},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.32660651206970215},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29094842076301575},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2702879309654236}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.9005974531173706},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7811697721481323},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7072445750236511},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6879336833953857},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6375369429588318},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.6162513494491577},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6064335703849792},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4920139014720917},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.47785016894340515},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.47262832522392273},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40847423672676086},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.32660651206970215},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29094842076301575},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2702879309654236},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2002.1014380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014380","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1909393615","https://openalex.org/W1999730797","https://openalex.org/W2099159893","https://openalex.org/W2105709186","https://openalex.org/W2110140978","https://openalex.org/W2116138583","https://openalex.org/W2140355478","https://openalex.org/W2141077499","https://openalex.org/W2145076589","https://openalex.org/W2166965569","https://openalex.org/W4285719527","https://openalex.org/W6676779515"],"related_works":["https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2313074614","https://openalex.org/W2166742878","https://openalex.org/W2130464959","https://openalex.org/W2883992449","https://openalex.org/W1942058526"],"abstract_inverted_index":{"Addresses":[0],"the":[1,44,51,65,99],"issue":[2],"of":[3,13,48,57,60,69],"developing":[4],"a":[5,10,23,58],"motion":[6,49,74,108],"planning":[7,75],"algorithm":[8],"for":[9,50,98],"general":[11],"class":[12],"modular":[14,18,100],"mobile":[15,19],"robots.":[16],"A":[17],"robot":[20,25,52],"is":[21],"essentially":[22],"reconfigurable":[24],"system":[26],"in":[27,55,78,85],"which":[28,114],"locomotive":[29],"modules":[30],"such":[31],"as":[32],"legs,":[33],"wheels,":[34],"propellers,":[35],"etc.":[36],"can":[37,90,118],"be":[38,92,119],"attached":[39],"at":[40],"various":[41],"locations":[42],"on":[43],"body.":[45],"The":[46,73],"equations":[47],"are":[53],"developed":[54,77],"terms":[56],"set":[59],"generalized":[61],"inputs":[62],"related":[63],"to":[64,94,106],"constraints":[66],"and":[67,80,83,87],"configurations":[68],"each":[70],"individual":[71],"module.":[72],"method":[76],"Lafferriere":[79],"Sussmann":[81],"(1991)":[82],"extended":[84],"Goodwine":[86],"Burdick":[88],"(1997)":[89],"then":[91],"modified":[93],"generate":[95],"required":[96],"trajectories":[97],"robot.":[101],"These":[102],"methods":[103],"generally":[104],"lead":[105],"sequential":[107],"plans-we":[109],"also":[110],"develop":[111],"conditions":[112],"under":[113],"two":[115],"consecutive":[116],"plans":[117],"executed":[120],"simultaneously.":[121]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}