{"id":"https://openalex.org/W4321020411","doi":"https://doi.org/10.1109/sii55687.2023.10039133","title":"Benchmarking local motion planners for navigation of mobile manipulators","display_name":"Benchmarking local motion planners for navigation of mobile manipulators","publication_year":2023,"publication_date":"2023-01-17","ids":{"openalex":"https://openalex.org/W4321020411","doi":"https://doi.org/10.1109/sii55687.2023.10039133"},"language":"en","primary_location":{"id":"doi:10.1109/sii55687.2023.10039133","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii55687.2023.10039133","pdf_url":null,"source":{"id":"https://openalex.org/S4363605654","display_name":"2023 IEEE/SICE International Symposium on System Integration (SII)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/SICE International Symposium on System Integration (SII)","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/A5070266999","display_name":"Sevag Tafnakaji","orcid":null},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Sevag Tafnakaji","raw_affiliation_strings":["Chalmers University of Technology,Automatic Control Research Group,Department of Electrical Engineering,G&#x00F6;teborg,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Automatic Control Research Group,Department of Electrical Engineering,G&#x00F6;teborg,Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015115695","display_name":"Hadi Hajieghrary","orcid":"https://orcid.org/0000-0002-4278-1293"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Hadi Hajieghrary","raw_affiliation_strings":["Chalmers University of Technology,Automatic Control Research Group,Department of Electrical Engineering,G&#x00F6;teborg,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Automatic Control Research Group,Department of Electrical Engineering,G&#x00F6;teborg,Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087446476","display_name":"Quentin Teixeira","orcid":null},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Quentin Teixeira","raw_affiliation_strings":["Chalmers University of Technology,Automatic Control Research Group,Department of Electrical Engineering,G&#x00F6;teborg,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Automatic Control Research Group,Department of Electrical Engineering,G&#x00F6;teborg,Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015300584","display_name":"Yasemin Bekiroglu","orcid":"https://orcid.org/0000-0002-2597-6013"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yasemin Bekiroglu","raw_affiliation_strings":["Chalmers University of Technology,Automatic Control Research Group,Department of Electrical Engineering,G&#x00F6;teborg,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Automatic Control Research Group,Department of Electrical Engineering,G&#x00F6;teborg,Sweden","institution_ids":["https://openalex.org/I66862912"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I66862912"],"apc_list":null,"apc_paid":null,"fwci":0.8497,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.80926733,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9948999881744385,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9944000244140625,"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/benchmarking","display_name":"Benchmarking","score":0.8190079927444458},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7699661254882812},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6951318979263306},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6073707342147827},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5512955784797668},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5280523896217346},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5112078189849854},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.455089807510376},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.43747588992118835},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4235064685344696},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.236326664686203},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.06265950202941895}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.8190079927444458},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7699661254882812},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6951318979263306},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6073707342147827},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5512955784797668},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5280523896217346},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5112078189849854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.455089807510376},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.43747588992118835},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4235064685344696},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.236326664686203},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.06265950202941895},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/sii55687.2023.10039133","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii55687.2023.10039133","pdf_url":null,"source":{"id":"https://openalex.org/S4363605654","display_name":"2023 IEEE/SICE International Symposium on System Integration (SII)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"},{"id":"pmh:oai:research.chalmers.se:534894","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/7ef67199-a691-4d57-82dc-6340f229d12f","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1972267259","https://openalex.org/W2111830885","https://openalex.org/W2117211893","https://openalex.org/W2152536965","https://openalex.org/W2225818204","https://openalex.org/W2549200707","https://openalex.org/W2789990415","https://openalex.org/W2904612118","https://openalex.org/W2966077615","https://openalex.org/W3022310485","https://openalex.org/W3041216421","https://openalex.org/W3109403242","https://openalex.org/W3120601887","https://openalex.org/W6688688956","https://openalex.org/W6688772213","https://openalex.org/W6784289283","https://openalex.org/W6785763570"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W2101105382","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"There":[0],"are":[1,78],"various":[2],"trajectory":[3,53,101],"planners":[4,54,75,127],"for":[5,64],"mobile":[6,65],"manipulators.":[7],"It":[8],"is":[9,121],"often":[10],"challenging":[11],"to":[12,20,46,55,90,123],"compare":[13],"their":[14],"performance":[15,49],"under":[16],"similar":[17],"circumstances":[18],"due":[19],"differences":[21],"in":[22,33,67,129],"hardware,":[23],"dissimilarity":[24],"of":[25,50],"tasks":[26],"and":[27,35,58,60,93,106],"objectives,":[28],"as":[29,31,76],"well":[30],"uncertainties":[32],"measurements":[34],"operating":[36],"environments.":[37],"In":[38],"this":[39],"paper,":[40],"we":[41,115],"propose":[42],"a":[43,87],"simulation":[44],"framework":[45],"evaluate":[47,97],"the":[48,51,68,112,130],"local":[52,74,100,126],"generate":[56],"smooth,":[57],"dynamically":[59],"kinematically":[61],"feasible":[62],"trajectories":[63,84],"manipulators":[66],"same":[69],"environment.":[70],"We":[71,96],"focus":[72],"on":[73],"they":[77],"key":[79],"components":[80],"that":[81,114],"provide":[82],"smooth":[83],"while":[85],"carrying":[86],"load,":[88],"react":[89],"dynamic":[91],"obstacles,":[92],"avoid":[94],"collisions.":[95],"two":[98],"prominent":[99],"planners,":[102],"Dynamic-Window":[103],"Approach":[104],"(DWA)":[105],"Time":[107],"Elastic":[108],"Band":[109],"(TEB)":[110],"using":[111],"metrics":[113],"introduce.":[116],"Moreover,":[117],"our":[118],"software":[119],"solution":[120],"applicable":[122],"any":[124],"other":[125],"used":[128],"Robot":[131],"Operating":[132],"System":[133],"(ROS)":[134],"framework,":[135],"without":[136],"additional":[137],"programming":[138],"effort.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
