{"id":"https://openalex.org/W4292972737","doi":"https://doi.org/10.1109/tro.2022.3191596","title":"Sampling-Based Planning for Retrieving Near-Cylindrical Objects in Cluttered Scenes Using Hierarchical Graphs","display_name":"Sampling-Based Planning for Retrieving Near-Cylindrical Objects in Cluttered Scenes Using Hierarchical Graphs","publication_year":2022,"publication_date":"2022-08-22","ids":{"openalex":"https://openalex.org/W4292972737","doi":"https://doi.org/10.1109/tro.2022.3191596"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3191596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3191596","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-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/A5088610029","display_name":"Hao Tian","orcid":"https://orcid.org/0000-0003-4612-9777"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Hao Tian","raw_affiliation_strings":["Department of Computer Science, University of Hong Kong, Hong Kong","Centre for Garment Production Limited, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Centre for Garment Production Limited, Hong Kong","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028976561","display_name":"Chaoyang Song","orcid":"https://orcid.org/0000-0002-0166-8112"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoyang Song","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063110936","display_name":"Changbo Wang","orcid":"https://orcid.org/0000-0001-8940-6418"},"institutions":[{"id":"https://openalex.org/I66867065","display_name":"East China Normal University","ror":"https://ror.org/02n96ep67","country_code":"CN","type":"education","lineage":["https://openalex.org/I66867065"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changbo Wang","raw_affiliation_strings":["School of Computer Science and Technology, East China Normal University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, East China Normal University, Shanghai, China","institution_ids":["https://openalex.org/I66867065"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100390673","display_name":"Xinyu Zhang","orcid":"https://orcid.org/0000-0001-5000-2483"},"institutions":[{"id":"https://openalex.org/I66867065","display_name":"East China Normal University","ror":"https://ror.org/02n96ep67","country_code":"CN","type":"education","lineage":["https://openalex.org/I66867065"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Zhang","raw_affiliation_strings":["School of Software Engineering, East China Normal University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Software Engineering, East China Normal University, Shanghai, China","institution_ids":["https://openalex.org/I66867065"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076812698","display_name":"Jia Pan","orcid":"https://orcid.org/0000-0001-9003-2054"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jia Pan","raw_affiliation_strings":["Department of Computer Science, University of Hong Kong, Hong Kong","Centre for Garment Production Limited, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Centre for Garment Production Limited, Hong Kong","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5088610029"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":1.2228,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.80282697,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"39","issue":"1","first_page":"165","last_page":"182"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9976000189781189,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7037123441696167},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6625952124595642},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.662317156791687},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6468164920806885},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5507522225379944},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5315729379653931},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5051141381263733},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4985487461090088},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.48273369669914246},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4668370485305786},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.12708470225334167},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.12042021751403809}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7037123441696167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6625952124595642},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.662317156791687},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6468164920806885},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5507522225379944},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5315729379653931},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5051141381263733},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4985487461090088},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.48273369669914246},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4668370485305786},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.12708470225334167},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.12042021751403809},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2022.3191596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3191596","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6499999761581421,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W106094172","https://openalex.org/W1434156133","https://openalex.org/W1593316755","https://openalex.org/W1601397300","https://openalex.org/W1608892862","https://openalex.org/W1852202999","https://openalex.org/W1989021449","https://openalex.org/W1989604857","https://openalex.org/W1990677634","https://openalex.org/W2023862787","https://openalex.org/W2050718309","https://openalex.org/W2057408106","https://openalex.org/W2109447584","https://openalex.org/W2116597489","https://openalex.org/W2135319191","https://openalex.org/W2141664020","https://openalex.org/W2141841102","https://openalex.org/W2155752816","https://openalex.org/W2294997557","https://openalex.org/W2383103400","https://openalex.org/W2412154694","https://openalex.org/W2736647539","https://openalex.org/W2793704326","https://openalex.org/W2805883505","https://openalex.org/W2914044489","https://openalex.org/W2945600613","https://openalex.org/W2963566599","https://openalex.org/W2963903510","https://openalex.org/W2968156685","https://openalex.org/W2986717012","https://openalex.org/W3001865277","https://openalex.org/W3089883116","https://openalex.org/W3090394117","https://openalex.org/W3090717212","https://openalex.org/W3091115569","https://openalex.org/W3091256784","https://openalex.org/W3100738175","https://openalex.org/W3124148098","https://openalex.org/W3173991492","https://openalex.org/W3183217451","https://openalex.org/W3203645530","https://openalex.org/W3205538590","https://openalex.org/W3205918749","https://openalex.org/W3206144464","https://openalex.org/W4240202985","https://openalex.org/W6636831713","https://openalex.org/W6713184877"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W4245435724","https://openalex.org/W2055301889","https://openalex.org/W2376554934","https://openalex.org/W2394276631","https://openalex.org/W4287991909","https://openalex.org/W4390721878"],"abstract_inverted_index":{"We":[0,75,179],"present":[1],"an":[2,77],"incremental":[3,78],"sampling-based":[4],"task":[5,205],"and":[6,54,70,85,97,132,167,187,206,222],"motion":[7,29,53,207],"planner":[8,40,173],"for":[9,22,49,59],"retrieving":[10],"near-cylindrical":[11],"objects,":[12],"like":[13],"bottle,":[14],"in":[15,66,100,115,124],"cluttered":[16,126],"scenes,":[17,118],"which":[18],"computes":[19],"a":[20,27,31,42,120,125,133,164,184,218,225],"plan":[21,175],"removing":[23],"obstacles":[24],"to":[25,33,64,81,102,148,174,183,193,198,211],"generate":[26],"collision-free":[28],"of":[30,72,110,137,160],"robot":[32,62,186],"retrieve":[34],"the":[35,46,50,55,60,68,83,89,92,95,98,104,142,156,171,199],"target":[36,51,93,143],"object.":[37],"Our":[38,150],"proposed":[39],"uses":[41],"two-level":[43],"hierarchy,":[44],"including":[45,119],"first-level":[47],"roadmap":[48,84],"object":[52,73,105,144,161],"second-level":[56],"retrieval":[57,86,162],"graph":[58,87],"entire":[61],"motion,":[63],"aid":[65],"deciding":[67],"order":[69,101],"trajectory":[71],"removal.":[74],"use":[76],"expansion":[79],"strategy":[80],"update":[82],"from":[88],"collisions":[90],"between":[91],"object,":[94],"robot,":[96],"obstacles,":[99],"optimize":[103],"removal":[106],"sequence.":[107],"The":[108],"performance":[109],"our":[111,181,202],"method":[112,151,182,203],"is":[113],"highlighted":[114],"several":[116],"benchmark":[117],"fixed":[121],"robotic":[122],"arm":[123],"scene":[127],"with":[128,170,190,217],"known":[129],"obstacle":[130],"locations":[131,136],"scene,":[134],"where":[135],"some":[138],"objects":[139],"or":[140],"even":[141],"are":[145],"unknown":[146],"due":[147],"occlusions.":[149],"can":[152],"also":[153],"efficiently":[154],"solve":[155],"high-dimensional":[157],"planning":[158,208],"problem":[159],"using":[163],"mobile":[165],"manipulator":[166],"be":[168],"combined":[169],"symbolic":[172],"complex":[176],"multistep":[177],"tasks.":[178],"deploy":[180],"physical":[185],"integrate":[188],"it":[189],"nonprehensile":[191],"actions":[192],"improve":[194],"operational":[195],"efficiency.":[196],"Compared":[197],"state-of-the-art":[200],"approaches,":[201],"reduces":[204],"time":[209],"up":[210],"24.6":[212],"<inline-formula":[213],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[214],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[215],"notation=\"LaTeX\">$\\%$</tex-math></inline-formula>":[216],"higher":[219],"success":[220],"rate,":[221],"still":[223],"provides":[224],"near-optimal":[226],"plan.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}