{"id":"https://openalex.org/W2167547476","doi":"https://doi.org/10.1109/robot.2006.1641925","title":"Collision detection of cylindrical rigid bodies for motion planning","display_name":"Collision detection of cylindrical rigid bodies for motion planning","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2167547476","doi":"https://doi.org/10.1109/robot.2006.1641925","mag":"2167547476"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641925","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641925","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5065335665","display_name":"John S. Ketchel","orcid":null},"institutions":[{"id":"https://openalex.org/I106959904","display_name":"Florida Institute of Technology","ror":"https://ror.org/04atsbb87","country_code":"US","type":"education","lineage":["https://openalex.org/I106959904"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Ketchel","raw_affiliation_strings":["Department of Mechanical and AeroSpace Engineering, Florida Institute of Technology, Melbourne, FL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Engineering, Florida Institute of Technology, Melbourne, FL, USA","institution_ids":["https://openalex.org/I106959904"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023490313","display_name":"Pierre Larochelle","orcid":"https://orcid.org/0000-0001-9123-4483"},"institutions":[{"id":"https://openalex.org/I106959904","display_name":"Florida Institute of Technology","ror":"https://ror.org/04atsbb87","country_code":"US","type":"education","lineage":["https://openalex.org/I106959904"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P. Larochelle","raw_affiliation_strings":["Department of Mechanical and AeroSpace Engineering, Florida Institute of Technology, Melbourne, FL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Engineering, Florida Institute of Technology, Melbourne, FL, USA","institution_ids":["https://openalex.org/I106959904"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I106959904"],"apc_list":null,"apc_paid":null,"fwci":0.8128,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.72155689,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1530","last_page":"1535"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987999796867371,"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":0.9973000288009644,"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/collision-detection","display_name":"Collision detection","score":0.8368062973022461},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7887794971466064},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7427598834037781},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7291594743728638},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5727187991142273},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5417478680610657},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5287242531776428},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47420671582221985},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.46052107214927673},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45991602540016174},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.4492647349834442},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35910993814468384},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28503191471099854},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2537575364112854},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.20756572484970093}],"concepts":[{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.8368062973022461},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7887794971466064},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7427598834037781},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7291594743728638},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5727187991142273},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5417478680610657},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5287242531776428},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47420671582221985},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.46052107214927673},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45991602540016174},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.4492647349834442},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35910993814468384},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28503191471099854},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2537575364112854},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.20756572484970093},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1641925","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641925","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W18872679","https://openalex.org/W602087562","https://openalex.org/W2013053754","https://openalex.org/W2072162217","https://openalex.org/W2094539937","https://openalex.org/W2115726530","https://openalex.org/W2136938510","https://openalex.org/W4245114601","https://openalex.org/W6600760879"],"related_works":["https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W1970280380","https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W3215492696","https://openalex.org/W2257960210","https://openalex.org/W2028510469"],"abstract_inverted_index":{"This":[0,18,139],"paper":[1],"presents":[2],"a":[3,81,110,123],"novel":[4],"methodology":[5,140],"for":[6,56,167],"detecting":[7,129],"collisions":[8,130],"of":[9,31,40,95,128,131,153,164],"cylindrically":[10,132],"shaped":[11,133],"rigid":[12,44],"bodies":[13,45,70,85,103,134],"moving":[14,135],"in":[15,136,143],"three":[16,137],"dimensions.":[17,138],"algorithm":[19,117],"uses":[20],"line":[21],"geometry":[22,30],"and":[23,51,88,109,113,125,150],"dual":[24],"number":[25],"algebra":[26],"to":[27,36,91],"exploit":[28],"the":[29,38,43,61,68,75,84,92,96,99,102],"right":[32],"circular":[33],"cylindrical":[34],"objects":[35],"facilitate":[37],"detection":[39,116],"collisions.":[41],"First,":[42],"are":[46,104],"modelled":[47,105],"with":[48,106],"infinite":[49],"cylinders":[50,108],"an":[52,168],"efficient":[53,126],"necessary":[54,62,76,112],"condition":[55,63,77],"collision":[57,82,115],"is":[58,64,78,118,122,171],"evaluated.":[59],"If":[60,74],"not":[65,72],"satisfied":[66,79],"then":[67,80],"two":[69],"do":[71],"collide.":[73],"between":[83],"may":[86],"occur":[87],"we":[89],"proceed":[90],"next":[93],"stage":[94,101],"algorithm.":[97],"In":[98],"second":[100],"finite":[107],"definitive":[111],"sufficient":[114],"employed.":[119],"The":[120],"result":[121],"straight-forward":[124],"means":[127],"has":[141],"applications":[142],"robot":[144,170],"motion":[145,165],"planning,":[146],"spatial":[147],"mechanism":[148],"design,":[149],"workspace":[151],"analysis":[152],"parallel":[154],"kinematic":[155],"machines":[156],"such":[157],"as":[158],"Stewart-Gough":[159],"platforms.":[160],"A":[161],"case":[162],"study":[163],"planning":[166],"industrial":[169],"included":[172]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
