{"id":"https://openalex.org/W2192953621","doi":"https://doi.org/10.1109/etfa.2015.7301404","title":"Ontological physics-based motion planning for manipulation","display_name":"Ontological physics-based motion planning for manipulation","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2192953621","doi":"https://doi.org/10.1109/etfa.2015.7301404","mag":"2192953621"},"language":"en","primary_location":{"id":"doi:10.1109/etfa.2015.7301404","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2015.7301404","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)","raw_type":"proceedings-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":null,"display_name":"Muhayyuddin","orcid":null},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Muhayyuddin","raw_affiliation_strings":["Institute of Industrial and Control Engineering (IOC), Universitat Politcnica de Catalunya (UPC) - Barcelona Tech, Spain"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial and Control Engineering (IOC), Universitat Politcnica de Catalunya (UPC) - Barcelona Tech, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068220205","display_name":"Aliakbar Akbari","orcid":"https://orcid.org/0000-0002-5290-9799"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aliakbar Akbari","raw_affiliation_strings":["Institute of Industrial and Control Engineering (IOC), Barcelona Tech, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial and Control Engineering (IOC), Barcelona Tech, Barcelona, Spain","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031235936","display_name":"Jan Rosell","orcid":"https://orcid.org/0000-0003-4854-2370"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jan Rosell","raw_affiliation_strings":["Institute of Industrial and Control Engineering (IOC), Barcelona Tech, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial and Control Engineering (IOC), Barcelona Tech, Barcelona, Spain","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I9617848"],"apc_list":null,"apc_paid":null,"fwci":3.1827,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.94653556,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"3","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":0.9990000128746033,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9962000250816345,"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/motion","display_name":"Motion (physics)","score":0.6840292811393738},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.666415810585022},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6490450501441956},{"id":"https://openalex.org/keywords/scope","display_name":"Scope (computer science)","score":0.5823175311088562},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5782691240310669},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.5613049864768982},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5013606548309326},{"id":"https://openalex.org/keywords/knowledge-representation-and-reasoning","display_name":"Knowledge representation and reasoning","score":0.48493412137031555},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47471463680267334},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.47035980224609375},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.44895777106285095},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4154904782772064},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11844253540039062}],"concepts":[{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6840292811393738},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.666415810585022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6490450501441956},{"id":"https://openalex.org/C2778012447","wikidata":"https://www.wikidata.org/wiki/Q1034415","display_name":"Scope (computer science)","level":2,"score":0.5823175311088562},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5782691240310669},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.5613049864768982},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5013606548309326},{"id":"https://openalex.org/C161301231","wikidata":"https://www.wikidata.org/wiki/Q3478658","display_name":"Knowledge representation and reasoning","level":2,"score":0.48493412137031555},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47471463680267334},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.47035980224609375},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.44895777106285095},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4154904782772064},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11844253540039062},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/etfa.2015.7301404","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2015.7301404","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W21025882","https://openalex.org/W118857915","https://openalex.org/W1490584238","https://openalex.org/W1502517891","https://openalex.org/W1597612847","https://openalex.org/W1904505005","https://openalex.org/W1971094449","https://openalex.org/W2002548850","https://openalex.org/W2029752358","https://openalex.org/W2048820947","https://openalex.org/W2104409884","https://openalex.org/W2110762409","https://openalex.org/W2111168122","https://openalex.org/W2150500908","https://openalex.org/W2273011160","https://openalex.org/W2296360731","https://openalex.org/W2399501438","https://openalex.org/W2624907881","https://openalex.org/W2901136733","https://openalex.org/W3104753760","https://openalex.org/W4211241511","https://openalex.org/W6600806940","https://openalex.org/W6629295250","https://openalex.org/W6630113953","https://openalex.org/W6642996621","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4296209631","https://openalex.org/W3097449145","https://openalex.org/W2561617217","https://openalex.org/W2025378473","https://openalex.org/W2355801475","https://openalex.org/W4206659427","https://openalex.org/W2170062176","https://openalex.org/W2148135840","https://openalex.org/W106004901","https://openalex.org/W2115970849"],"abstract_inverted_index":{"Robotic":[0],"manipulation":[1,73,92,113],"involves":[2],"actions":[3,74,81,93],"where":[4,116],"contacts":[5],"occur":[6],"between":[7,27],"the":[8,11,16,48,52,56,70,76,89,103],"robot":[9],"and":[10,55,78,82,126,133,136],"objects.":[12],"In":[13],"this":[14,35,87],"scope,":[15],"availability":[17],"of":[18,37,51,91,106],"physics-based":[19,40,117],"engines":[20],"allows":[21],"motion":[22,41,107,118],"planners":[23],"to":[24,47,58,65],"comprise":[25],"dynamics":[26],"rigid":[28],"bodies,":[29],"which":[30],"is":[31,43,120,134,150],"necessary":[32],"for":[33],"planning":[34,42,114,119],"type":[36],"actions.":[38],"However,":[39],"computationally":[44],"intensive":[45],"due":[46],"high":[49],"dimensionality":[50],"state":[53],"space":[54],"need":[57],"work":[59],"with":[60,86,122,138],"a":[61,97,112,139],"low":[62],"integration":[63],"step":[64],"find":[66],"accurate":[67],"solutions.":[68],"On":[69],"other":[71],"hand,":[72],"change":[75],"environment":[77],"conditions":[79],"further":[80],"motions.":[83],"To":[84],"cope":[85],"issue,":[88],"representation":[90,125],"using":[94],"ontologies":[95],"enables":[96],"semantic-based":[98],"inference":[99],"processe":[100],"that":[101],"alleviates":[102],"computational":[104],"cost":[105],"planning.":[108],"This":[109],"paper":[110],"proposes":[111],"framework":[115],"enhanced":[121],"ontological":[123],"knowledge":[124],"reasoning.":[127],"The":[128],"proposal":[129],"has":[130],"been":[131],"implemented":[132],"illustrated":[135],"validated":[137],"simple":[140],"example.":[141],"Its":[142],"use":[143],"in":[144,147],"grasping":[145],"tasks":[146],"cluttered":[148],"environments":[149],"currently":[151],"under":[152],"development.":[153]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}