{"id":"https://openalex.org/W2790810617","doi":"https://doi.org/10.1109/tcst.2018.2813323","title":"Human-Guided Multirobot Cooperative Manipulation","display_name":"Human-Guided Multirobot Cooperative Manipulation","publication_year":2018,"publication_date":"2018-03-22","ids":{"openalex":"https://openalex.org/W2790810617","doi":"https://doi.org/10.1109/tcst.2018.2813323","mag":"2790810617"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2018.2813323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2018.2813323","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1436781","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009615038","display_name":"Dominik Sieber","orcid":"https://orcid.org/0000-0003-3110-944X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dominik Sieber","raw_affiliation_strings":["Chair of Information-Oriented Control, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-3110-944X","affiliations":[{"raw_affiliation_string":"Chair of Information-Oriented Control, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024376647","display_name":"Sandra Hirche","orcid":"https://orcid.org/0000-0001-7819-5926"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sandra Hirche","raw_affiliation_strings":["Chair of Information-Oriented Control, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-7819-5926","affiliations":[{"raw_affiliation_string":"Chair of Information-Oriented Control, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":3.6731,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.93352659,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"27","issue":"4","first_page":"1492","last_page":"1509"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9993000030517578,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.994700014591217,"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/controllability","display_name":"Controllability","score":0.8533189296722412},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6970453262329102},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6681020855903625},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6040992736816406},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5933851599693298},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5194630026817322},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.4975452721118927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.486786812543869},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.48355957865715027},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4766312837600708},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4704042077064514},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4349822700023651},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39337000250816345},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.191883385181427},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1348036825656891},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.09765419363975525}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.8533189296722412},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6970453262329102},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6681020855903625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6040992736816406},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5933851599693298},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5194630026817322},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.4975452721118927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.486786812543869},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.48355957865715027},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4766312837600708},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4704042077064514},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4349822700023651},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39337000250816345},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.191883385181427},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1348036825656891},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.09765419363975525},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2018.2813323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2018.2813323","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1436781","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1436781","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1436781","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1436781","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G63770550","display_name":null,"funder_award_id":"FP7/2007 - 2013","funder_id":"https://openalex.org/F4320333065","funder_display_name":"Seventh Framework Programme"},{"id":"https://openalex.org/G7394359192","display_name":null,"funder_award_id":"601165","funder_id":"https://openalex.org/F4320334960","funder_display_name":"Seventh Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320333065","display_name":"Seventh Framework Programme","ror":null},{"id":"https://openalex.org/F4320334960","display_name":"Seventh Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W613360614","https://openalex.org/W828491424","https://openalex.org/W1527786550","https://openalex.org/W1590784139","https://openalex.org/W1854667150","https://openalex.org/W1893135903","https://openalex.org/W1981826826","https://openalex.org/W1986523056","https://openalex.org/W1996819900","https://openalex.org/W2003701638","https://openalex.org/W2017239762","https://openalex.org/W2046178935","https://openalex.org/W2053983794","https://openalex.org/W2070842753","https://openalex.org/W2076526924","https://openalex.org/W2076864756","https://openalex.org/W2103120971","https://openalex.org/W2118709214","https://openalex.org/W2119959427","https://openalex.org/W2123179704","https://openalex.org/W2125602005","https://openalex.org/W2132664688","https://openalex.org/W2133621720","https://openalex.org/W2134290383","https://openalex.org/W2141222604","https://openalex.org/W2153935709","https://openalex.org/W2155296698","https://openalex.org/W2158541530","https://openalex.org/W2203108384","https://openalex.org/W2269597554","https://openalex.org/W2417756257","https://openalex.org/W4238591275","https://openalex.org/W6677821784","https://openalex.org/W6679679275"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2140812588","https://openalex.org/W2411113819","https://openalex.org/W2072887367","https://openalex.org/W40488765","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727"],"abstract_inverted_index":{"The":[0,57,183],"interaction":[1],"of":[2,8,39,86,119,143,167],"a":[3,6,28,49,66,101,104,120,124,189,196],"human":[4,34,82,96,121,149,169],"with":[5,69,78,107,195],"team":[7],"cooperative":[9,192],"robots,":[10],"which":[11,47,138],"collaboratively":[12],"manipulate":[13],"an":[14],"object,":[15,80],"poses":[16],"significant":[17],"challenges":[18],"for":[19,137],"the":[20,33,37,40,54,62,79,81,87,91,95,108,112,116,130,134,141,144,148,165,168,181],"control":[21,52],"design.":[22],"In":[23],"this":[24],"paper,":[25],"we":[26,139],"propose":[27],"formation-based":[29,58],"approach":[30,59,185],"to":[31,36,71,163,171,176],"map":[32],"input":[35,150],"motion":[38],"object":[41,145],"cooperatively":[42],"manipulated":[43],"by":[44],"multiple":[45],"manipulators":[46,110,173],"feature":[48],"local":[50],"compliance":[51],"at":[53],"end-effector":[55],"level.":[56],"guarantees":[60],"that":[61,159],"reference":[63],"trajectories":[64],"maintain":[65],"desired":[67],"geometry":[68],"respect":[70],"each":[72],"other.":[73],"Without":[74],"being":[75,111],"in":[76,103,128,174,188],"touch":[77],"operator":[83,122],"is":[84,161,186],"part":[85],"formation":[88,106],"and":[89,123,133,151],"guides":[90],"robots":[92],"explicitly.":[93],"Here,":[94],"can":[97],"be":[98],"interpreted":[99],"as":[100],"leader":[102],"leader-follower":[105],"robotic":[109],"followers.":[113],"We":[114],"analyze":[115],"system":[117],"consisting":[118],"multirobot":[125,191],"manipulation":[126,193],"task":[127],"both":[129],"transient":[131],"phase":[132],"steady":[135],"state":[136,166],"derive":[140],"equilibrium":[142],"pose":[146],"from":[147],"show":[152],"its":[153],"stability.":[154],"A":[155],"controllability":[156],"analysis":[157],"suggests":[158],"it":[160],"beneficial":[162],"make":[164],"accessible":[170],"all":[172],"order":[175],"reduce":[177],"internal":[178],"stress":[179],"on":[180],"object.":[182],"proposed":[184],"evaluated":[187],"full-scale":[190],"experiment":[194],"human.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":1}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2018-03-29T00:00:00"}
