{"id":"https://openalex.org/W2119313793","doi":"https://doi.org/10.1109/robot.2005.1570669","title":"Unified Constraint-Based Task Specification for Complex Sensor-Based Robot Systems","display_name":"Unified Constraint-Based Task Specification for Complex Sensor-Based Robot Systems","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2119313793","doi":"https://doi.org/10.1109/robot.2005.1570669","mag":"2119313793"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570669","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5006282526","display_name":"Joris De Schutter","orcid":"https://orcid.org/0000-0001-9619-5815"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"J. de Schutter","raw_affiliation_strings":["Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067214752","display_name":"Johan Rutgeerts","orcid":null},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"J. Rutgeerts","raw_affiliation_strings":["Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038134638","display_name":"Erwin Aertbeli\u00ebn","orcid":"https://orcid.org/0000-0002-4514-0934"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"E. Aertbelien","raw_affiliation_strings":["Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044782627","display_name":"Friedl De Groote","orcid":"https://orcid.org/0000-0002-4255-8673"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"F. de Groote","raw_affiliation_strings":["Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067552545","display_name":"Tinne De Laet","orcid":"https://orcid.org/0000-0003-0624-3305"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"T. de Laet","raw_affiliation_strings":["Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109223221","display_name":"Tine Lefebvre","orcid":null},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"T. Lefebvre","raw_affiliation_strings":["Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062328395","display_name":"Walter Verdonck","orcid":null},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"W. Verdonck","raw_affiliation_strings":["Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009116988","display_name":"Herman Bruyninckx","orcid":"https://orcid.org/0000-0003-3776-1025"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"H. Bruyninckx","raw_affiliation_strings":["Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.935,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.98338822,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3607","last_page":"3612"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9807000160217285,"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/humanoid-robot","display_name":"Humanoid robot","score":0.6821574568748474},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.67964768409729},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.5992469787597656},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5677542686462402},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5306911468505859},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4793711006641388},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.4431198239326477},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41272616386413574},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3347277045249939},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2784673273563385},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2659182548522949},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12819138169288635}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6821574568748474},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.67964768409729},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.5992469787597656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5677542686462402},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5306911468505859},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4793711006641388},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.4431198239326477},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41272616386413574},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3347277045249939},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2784673273563385},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2659182548522949},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12819138169288635},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2005.1570669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570669","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.205.1572","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.205.1572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://people.mech.kuleuven.be/%7Etdelaet/papers/rutgeerts_unifiedConstraintBasedTaskSpecificationForComplexSensorbasedRobotSystems_icra05.pdf","raw_type":"text"},{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/157240","is_oa":false,"landing_page_url":"https://lirias.kuleuven.be/bitstream/123456789/157240/1/04PP107.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Robotics and Automation, Barcelona, Spain, 18-22 April 2005","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W172785069","https://openalex.org/W1510918013","https://openalex.org/W1559749952","https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W2033291957","https://openalex.org/W2105660272","https://openalex.org/W2112474089","https://openalex.org/W2142612660","https://openalex.org/W2151992157","https://openalex.org/W2166211466","https://openalex.org/W2169564405","https://openalex.org/W2296280963","https://openalex.org/W2527227418","https://openalex.org/W4206820429"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2163555676","https://openalex.org/W4390481035","https://openalex.org/W4389401105","https://openalex.org/W2778262232","https://openalex.org/W4386128912"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,9,128],"unified":[4,10,100],"task":[5],"specification":[6],"formalism":[7,23,101],"and":[8,42,89,116,131],"control":[11,16,97,120],"scheme":[12],"for":[13,73],"the":[14,28,46,58,65,68,84,104],"lowest":[15],"level":[17,96],"of":[18,30,70,86],"sensor-based":[19],"robot":[20,59,130],"tasks.":[21],"The":[22,99],"is":[24],"based":[25],"on:":[26],"(i)":[27],"integration":[29,69,85],"any":[31],"sensor":[32],"that":[33],"provides":[34],"(direct":[35],"or":[36,64],"indirect)":[37],"distance":[38],"(and":[39],"time":[40],"derivatives)":[41],"force":[43],"information;":[44],"(ii)":[45],"possibility":[47],"to":[48,57,103,113,125],"use":[49],"multiple":[50],"\"Tool":[51],"Centre":[52],"Points\",":[53],"e.g.":[54],"defined":[55],"relative":[56],"end":[60],"effector,":[61],"other":[62],"links":[63],"environment;":[66],"(iii)":[67],"optimization":[71],"functions":[72],"underconstrained":[74],"as":[75,77],"well":[76],"overconstrained":[78],"specifications":[79],"with":[80,92],"linear":[81],"constraints;":[82],"(iv)":[83],"on-line":[87],"estimators;":[88],"(v)":[90],"compatibility":[91],"all":[93],"major":[94],"low":[95],"approaches.":[98],"applies":[102],"whole":[105],"range":[106],"from":[107,117],"industrial":[108,123],"manipulators":[109],"over":[110,122],"cooperating":[111],"robots":[112],"humanoid":[114,129],"robots,":[115],"pure":[118],"position":[119],"tasks":[121],"processes":[124],"interaction":[126],"between":[127],"its":[132],"environment.":[133]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
