{"id":"https://openalex.org/W2113407491","doi":"https://doi.org/10.1109/robot.2004.1308757","title":"Complete path planning for a planar 2-R manipulator with point obstacles","display_name":"Complete path planning for a planar 2-R manipulator with point obstacles","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2113407491","doi":"https://doi.org/10.1109/robot.2004.1308757","mag":"2113407491"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1308757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308757","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5070515519","display_name":"Guanfeng Liu","orcid":"https://orcid.org/0000-0001-8980-4950"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"G.F. Liu","raw_affiliation_strings":["Department of Computer Science, Rensselaer Polytechnic Institute, Troy, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rensselaer Polytechnic Institute, Troy, NY, USA","institution_ids":["https://openalex.org/I165799507"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032562243","display_name":"Jeff Trinkle","orcid":"https://orcid.org/0000-0002-9877-2003"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.C. Trinkle","raw_affiliation_strings":["Department of Computer Science, Rensselaer Polytechnic Institute, Troy, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rensselaer Polytechnic Institute, Troy, NY, USA","institution_ids":["https://openalex.org/I165799507"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013974296","display_name":"R. James Milgram","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R.J. Milgram","raw_affiliation_strings":["Department of Mathematics, University of Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics, University of Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5070515519"],"corresponding_institution_ids":["https://openalex.org/I165799507"],"apc_list":null,"apc_paid":null,"fwci":0.8276,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.75800618,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"3263","last_page":"3269 Vol.4"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9955999851226807,"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"}},{"id":"https://openalex.org/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8015583753585815},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.7176963686943054},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6495898962020874},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5788567066192627},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5321309566497803},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5261737108230591},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5186380743980408},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.4721408188343048},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.4633963406085968},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.42141464352607727},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4186883270740509},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3776699900627136},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3771003782749176},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37476032972335815},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.3655102252960205},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.278657466173172},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.22858452796936035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20833146572113037},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.15596473217010498},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12945589423179626}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8015583753585815},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.7176963686943054},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6495898962020874},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5788567066192627},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5321309566497803},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5261737108230591},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5186380743980408},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.4721408188343048},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4633963406085968},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.42141464352607727},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4186883270740509},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3776699900627136},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3771003782749176},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37476032972335815},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3655102252960205},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.278657466173172},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.22858452796936035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20833146572113037},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.15596473217010498},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12945589423179626},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2004.1308757","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308757","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.61.1266","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.61.1266","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.rpi.edu/~trink/Papers/LMTicra.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1496383623","https://openalex.org/W1509580513","https://openalex.org/W1516027685","https://openalex.org/W1556676331","https://openalex.org/W1967707010","https://openalex.org/W1976579818","https://openalex.org/W2005154889","https://openalex.org/W2099251497","https://openalex.org/W2126380264","https://openalex.org/W2128990851","https://openalex.org/W2140876521","https://openalex.org/W2153562565","https://openalex.org/W2169812362","https://openalex.org/W4253062234","https://openalex.org/W6834167095"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W4395071568","https://openalex.org/W2904203243","https://openalex.org/W3139139461","https://openalex.org/W2125569607","https://openalex.org/W2106119116","https://openalex.org/W2084091668"],"abstract_inverted_index":{"In":[0],"this":[1,59],"paper":[2],"we":[3,36,61,79,97,142],"develop":[4,98],"a":[5,13,38,63,107,112,150],"systematic":[6],"topological":[7],"approach":[8],"to":[9,121,149],"motion":[10,82],"planning":[11,124],"for":[12,27,66,102],"planar":[14,152],"2-R":[15],"manipulator":[16],"with":[17],"point":[18],"obstacles.":[19],"By":[20],"considering":[21],"components":[22,70],"in":[23,91],"the":[24,28,32,42,45,53,67,72,76,81,92,104,122,133,138],"free":[25,46,73],"space":[26,47],"second":[29],"joint":[30,34],"as":[31],"first":[33],"varies,":[35],"build":[37],"two-dimensional":[39],"array":[40],"representing":[41,52],"cells":[43],"of":[44,55,69,71,137],"and":[48,111,135],"an":[49],"associated":[50],"graph":[51],"boundaries":[54],"those":[56],"cells.":[57],"Using":[58],"graph,":[60],"derive":[62],"closed":[64],"formula":[65],"number":[68],"space.":[74],"At":[75],"same":[77,93],"time":[78],"solve":[80],"existence":[83],"problem,":[84],"namely,":[85],"when":[86],"are":[87,128],"two":[88,99],"arbitrary":[89],"configurations":[90],"component?":[94],"If":[95],"so,":[96],"explicit":[100],"algorithms":[101,117],"constructing":[103],"path":[105,109,123],"-":[106],"middle":[108],"method":[110],"linear":[113],"interpolation":[114],"method.":[115],"These":[116],"give":[118],"complete":[119],"solutions":[120],"problem.":[125],"Extensive":[126],"examples":[127],"worked":[129],"out":[130],"which":[131],"verify":[132],"correctness":[134],"efficiency":[136],"resulting":[139],"program.":[140],"Then":[141],"briefly":[143],"discuss":[144],"how":[145],"these":[146],"methods":[147],"generalize":[148],"3-R":[151],"manipulator.":[153]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
