{"id":"https://openalex.org/W4401071849","doi":"https://doi.org/10.1109/romoco60539.2024.10604306","title":"A Framework for Joint Grasp and Motion Planning in Confined Spaces","display_name":"A Framework for Joint Grasp and Motion Planning in Confined Spaces","publication_year":2024,"publication_date":"2024-07-02","ids":{"openalex":"https://openalex.org/W4401071849","doi":"https://doi.org/10.1109/romoco60539.2024.10604306"},"language":"en","primary_location":{"id":"doi:10.1109/romoco60539.2024.10604306","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/romoco60539.2024.10604306","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 13th International Workshop on Robot Motion and Control (RoMoCo)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10467/126287","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024740189","display_name":"Martin Rudorfer","orcid":"https://orcid.org/0000-0001-9109-5188"},"institutions":[{"id":"https://openalex.org/I169199633","display_name":"Aston University","ror":"https://ror.org/05j0ve876","country_code":"GB","type":"education","lineage":["https://openalex.org/I169199633"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Martin Rudorfer","raw_affiliation_strings":["Aston University,The Department of Applied AI & Robotics,Birmingham,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aston University,The Department of Applied AI & Robotics,Birmingham,UK","institution_ids":["https://openalex.org/I169199633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5095383867","display_name":"Ji\u0159i Hartvich","orcid":null},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Ji\u0159i Hartvich","raw_affiliation_strings":["Czech Technical University Prague,The Faculty of Electrical Engineering,Prague,Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University Prague,The Faculty of Electrical Engineering,Prague,Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083101752","display_name":"Vojt\u011bch Von\u00e1sek","orcid":"https://orcid.org/0000-0001-9224-2151"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Vojt\u011bch Von\u00e1sek","raw_affiliation_strings":["Czech Technical University Prague,The Faculty of Electrical Engineering,Prague,Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University Prague,The Faculty of Electrical Engineering,Prague,Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12530208,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"19","issue":null,"first_page":"1","last_page":"7"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8370193243026733},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6948134899139404},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6578892469406128},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.563449501991272},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3194188177585602},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16351336240768433},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.07017725706100464},{"id":"https://openalex.org/keywords/architectural-engineering","display_name":"Architectural engineering","score":0.06796088814735413}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8370193243026733},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6948134899139404},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6578892469406128},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.563449501991272},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3194188177585602},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16351336240768433},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.07017725706100464},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.06796088814735413}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/romoco60539.2024.10604306","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/romoco60539.2024.10604306","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 13th International Workshop on Robot Motion and Control (RoMoCo)","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.cvut.cz:10467/126287","is_oa":true,"landing_page_url":"http://hdl.handle.net/10467/126287","pdf_url":null,"source":{"id":"https://openalex.org/S4306400739","display_name":"Cvut DSpace (Czech Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I44504214","host_organization_name":"Czech Technical University in Prague","host_organization_lineage":["https://openalex.org/I44504214"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"},{"id":"pmh:oai:publications.aston.ac.uk:46288","is_oa":false,"landing_page_url":"https://publications.aston.ac.uk/view/author/ea676b219c011fbfe1a36be63df95f58.html>,","pdf_url":null,"source":{"id":"https://openalex.org/S4306400483","display_name":"Aston Publications Explorer (Aston University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169199633","host_organization_name":"Aston University","host_organization_lineage":["https://openalex.org/I169199633"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Book Section"},{"id":"pmh:oai:arXiv.org:2505.07259","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2505.07259","pdf_url":"https://arxiv.org/pdf/2505.07259","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:dspace.cvut.cz:10467/126287","is_oa":true,"landing_page_url":"http://hdl.handle.net/10467/126287","pdf_url":null,"source":{"id":"https://openalex.org/S4306400739","display_name":"Cvut DSpace (Czech Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I44504214","host_organization_name":"Czech Technical University in Prague","host_organization_lineage":["https://openalex.org/I44504214"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6800000071525574}],"awards":[{"id":"https://openalex.org/G1460639909","display_name":null,"funder_award_id":"EP/S032487/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1561988643","https://openalex.org/W1990470929","https://openalex.org/W2095668460","https://openalex.org/W2110762409","https://openalex.org/W2116341587","https://openalex.org/W2123435073","https://openalex.org/W2140173255","https://openalex.org/W2141664020","https://openalex.org/W2167542173","https://openalex.org/W2414685554","https://openalex.org/W2540027626","https://openalex.org/W2786893837","https://openalex.org/W2837266420","https://openalex.org/W2889901349","https://openalex.org/W2891385711","https://openalex.org/W2910474428","https://openalex.org/W2964137828","https://openalex.org/W2986303149","https://openalex.org/W2996175471","https://openalex.org/W2998934366","https://openalex.org/W3035198432","https://openalex.org/W3040653306","https://openalex.org/W3088158297","https://openalex.org/W3090993660","https://openalex.org/W3099587965","https://openalex.org/W3165149185","https://openalex.org/W3206683563","https://openalex.org/W3207187156","https://openalex.org/W4206575475","https://openalex.org/W4281723238","https://openalex.org/W4285505176","https://openalex.org/W4383108224","https://openalex.org/W4387677967","https://openalex.org/W6849830695"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W2963326767"],"abstract_inverted_index":{"Robotic":[0],"grasping":[1,20],"is":[2,13,29],"a":[3,14,62,126],"fundamental":[4],"skill":[5],"across":[6],"all":[7,141],"domains":[8],"of":[9,17,65],"robot":[10,57],"applications.":[11],"There":[12],"large":[15],"body":[16],"research":[18,132],"for":[19,72],"objects":[21,43,93],"in":[22,39,45,81],"table-top":[23],"scenarios,":[24,117],"where":[25,41],"finding":[26],"suitable":[27],"grasps":[28],"the":[30,42,56,59,66,116,120,131],"main":[31],"challenge.":[32],"In":[33],"this":[34,82,137],"work,":[35],"we":[36],"are":[37,44],"interested":[38],"scenarios":[40,87],"confined":[46],"spaces":[47],"and":[48,75,98,102,112],"hence":[49],"particularly":[50],"difficult":[51],"to":[52,70,100,134],"reach.":[53],"Planning":[54],"how":[55],"approaches":[58],"object":[60],"becomes":[61],"major":[63],"part":[64],"challenge,":[67],"giving":[68],"rise":[69],"methods":[71],"joint":[73],"grasp":[74,96],"motion":[76],"planning.":[77],"The":[78],"framework":[79,138],"proposed":[80,121],"paper":[83],"provides":[84],"20":[85],"benchmark":[86],"with":[88,94],"systematically":[89],"increasing":[90],"difficulty,":[91],"realistic":[92],"precomputed":[95],"annotations,":[97],"tools":[99],"create":[101],"share":[103],"more":[104],"scenarios.":[105],"We":[106,129],"further":[107],"provide":[108],"two":[109],"baseline":[110],"planners":[111],"evaluate":[113],"them":[114],"on":[115],"demonstrating":[118],"that":[119],"difficulty":[122],"levels":[123],"indeed":[124],"offer":[125],"meaningful":[127],"progression.":[128],"invite":[130],"community":[133],"build":[135],"upon":[136],"by":[139],"making":[140],"components":[142],"publicly":[143],"available":[144],"as":[145],"open":[146],"source.":[147]},"counts_by_year":[],"updated_date":"2026-08-08T01:25:22.217667","created_date":"2025-10-10T00:00:00"}