{"id":"https://openalex.org/W3045250067","doi":"https://doi.org/10.1109/thms.2021.3090765","title":"Best Viewpoints for External Robots or Sensors Assisting Other Robots","display_name":"Best Viewpoints for External Robots or Sensors Assisting Other Robots","publication_year":2021,"publication_date":"2021-07-13","ids":{"openalex":"https://openalex.org/W3045250067","doi":"https://doi.org/10.1109/thms.2021.3090765","mag":"3045250067"},"language":"en","primary_location":{"id":"doi:10.1109/thms.2021.3090765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2021.3090765","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"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 Human-Machine Systems","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2007.10452","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016887094","display_name":"Jan Dufek","orcid":"https://orcid.org/0000-0003-4934-3242"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]},{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jan Dufek","raw_affiliation_strings":["Texas A&M University, College Station, TX, USA","Department of Computer Science and Engineering, Texas A&M University, College Station, TX, 77843 USA","Department of Computer Science, The University of Texas at Austin, Austin, TX, 78712 USA"],"raw_orcid":"https://orcid.org/0000-0003-4934-3242","affiliations":[{"raw_affiliation_string":"Texas A&M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, Texas A&M University, College Station, TX, 77843 USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin, Austin, TX, 78712 USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017662025","display_name":"Xuesu Xiao","orcid":"https://orcid.org/0000-0001-5151-2186"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]},{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xues Xiao","raw_affiliation_strings":["University of Texas at Austin, Austin, TX, USA","Department of Computer Science and Engineering, Texas A&M University, College Station, TX, 77843 USA"],"raw_orcid":"https://orcid.org/0000-0001-5151-2186","affiliations":[{"raw_affiliation_string":"University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, Texas A&M University, College Station, TX, 77843 USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048150326","display_name":"Robin R. Murphy","orcid":"https://orcid.org/0000-0003-0774-4312"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]},{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robin R. Murphy","raw_affiliation_strings":["Texas A&M University, College Station, TX, USA","Department of Computer Science and Engineering, Texas A&M University, College Station, TX, 77843 USA","Department of Computer Science, The University of Texas at Austin, Austin, TX, 78712 USA"],"raw_orcid":"https://orcid.org/0000-0003-0774-4312","affiliations":[{"raw_affiliation_string":"Texas A&M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, Texas A&M University, College Station, TX, 77843 USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin, Austin, TX, 78712 USA","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5016887094"],"corresponding_institution_ids":["https://openalex.org/I86519309","https://openalex.org/I91045830"],"apc_list":null,"apc_paid":null,"fwci":1.4248,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.79036725,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"51","issue":"4","first_page":"324","last_page":"334"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10427","display_name":"Visual perception and processing mechanisms","score":0.9835000038146973,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10427","display_name":"Visual perception and processing mechanisms","score":0.9835000038146973,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9789000153541565,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9684000015258789,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/viewpoints","display_name":"Viewpoints","score":0.8826716542243958},{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.7863315343856812},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6551712155342102},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.545559287071228},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.5098437666893005},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.49131813645362854},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4860535264015198},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4486892819404602},{"id":"https://openalex.org/keywords/value","display_name":"Value (mathematics)","score":0.4122456908226013},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.2638164162635803}],"concepts":[{"id":"https://openalex.org/C2776035091","wikidata":"https://www.wikidata.org/wiki/Q7928819","display_name":"Viewpoints","level":2,"score":0.8826716542243958},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.7863315343856812},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6551712155342102},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.545559287071228},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.5098437666893005},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.49131813645362854},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4860535264015198},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4486892819404602},{"id":"https://openalex.org/C2776291640","wikidata":"https://www.wikidata.org/wiki/Q2912517","display_name":"Value (mathematics)","level":2,"score":0.4122456908226013},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2638164162635803},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/thms.2021.3090765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2021.3090765","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"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 Human-Machine Systems","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2007.10452","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.10452","pdf_url":"https://arxiv.org/pdf/2007.10452","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:oaktrust.library.tamu.edu:1969.1/192260","is_oa":false,"landing_page_url":"https://hdl.handle.net/1969.1/192260","pdf_url":null,"source":{"id":"https://openalex.org/S4306400291","display_name":"OakTrust (Texas A&M University Libraries)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I91045830","host_organization_name":"Texas A&M University","host_organization_lineage":["https://openalex.org/I91045830"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2007.10452","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.10452","pdf_url":"https://arxiv.org/pdf/2007.10452","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":99,"referenced_works":["https://openalex.org/W1535889867","https://openalex.org/W1612236069","https://openalex.org/W1853109770","https://openalex.org/W1921740338","https://openalex.org/W1969927825","https://openalex.org/W1985438872","https://openalex.org/W2002123853","https://openalex.org/W2004418354","https://openalex.org/W2017173351","https://openalex.org/W2018688180","https://openalex.org/W2029523166","https://openalex.org/W2065470608","https://openalex.org/W2085224650","https://openalex.org/W2085487226","https://openalex.org/W2107031757","https://openalex.org/W2109953164","https://openalex.org/W2111689465","https://openalex.org/W2113117178","https://openalex.org/W2122454527","https://openalex.org/W2135631744","https://openalex.org/W2137429560","https://openalex.org/W2143170311","https://openalex.org/W2154625376","https://openalex.org/W2155249036","https://openalex.org/W2161578242","https://openalex.org/W2164103659","https://openalex.org/W2167846110","https://openalex.org/W2211418111","https://openalex.org/W2250057387","https://openalex.org/W2250706791","https://openalex.org/W2288256184","https://openalex.org/W2310510117","https://openalex.org/W2325972454","https://openalex.org/W2413786627","https://openalex.org/W2468875906","https://openalex.org/W2486293803","https://openalex.org/W2491294889","https://openalex.org/W2505184176","https://openalex.org/W2517389122","https://openalex.org/W2534394559","https://openalex.org/W2561257955","https://openalex.org/W2566754498","https://openalex.org/W2587480186","https://openalex.org/W2587869889","https://openalex.org/W2592925340","https://openalex.org/W2600381691","https://openalex.org/W2603529580","https://openalex.org/W2762545231","https://openalex.org/W2766842503","https://openalex.org/W2766969817","https://openalex.org/W2767048994","https://openalex.org/W2770123362","https://openalex.org/W2773779066","https://openalex.org/W2775115763","https://openalex.org/W2782655722","https://openalex.org/W2794056821","https://openalex.org/W2794320745","https://openalex.org/W2803694688","https://openalex.org/W2809510126","https://openalex.org/W2856792408","https://openalex.org/W2885302229","https://openalex.org/W2890250492","https://openalex.org/W2890374548","https://openalex.org/W2891114892","https://openalex.org/W2901366902","https://openalex.org/W2905225265","https://openalex.org/W2912608789","https://openalex.org/W2915732616","https://openalex.org/W2922249922","https://openalex.org/W2924348398","https://openalex.org/W2927869062","https://openalex.org/W2941098698","https://openalex.org/W2943334758","https://openalex.org/W2943744307","https://openalex.org/W2947489306","https://openalex.org/W2953881374","https://openalex.org/W2963734698","https://openalex.org/W2966389065","https://openalex.org/W2971820889","https://openalex.org/W2975327693","https://openalex.org/W2976944867","https://openalex.org/W3000006320","https://openalex.org/W3008664651","https://openalex.org/W3011605330","https://openalex.org/W3184766140","https://openalex.org/W4238823463","https://openalex.org/W4242401062","https://openalex.org/W4256431479","https://openalex.org/W4288114201","https://openalex.org/W4301141993","https://openalex.org/W6735642020","https://openalex.org/W6735841966","https://openalex.org/W6751760488","https://openalex.org/W6752367890","https://openalex.org/W6753579649","https://openalex.org/W6760216669","https://openalex.org/W6767303017","https://openalex.org/W6772735397","https://openalex.org/W7058230211"],"related_works":["https://openalex.org/W2385368906","https://openalex.org/W2902924992","https://openalex.org/W2626642044","https://openalex.org/W2619807045","https://openalex.org/W2388758053","https://openalex.org/W93537448","https://openalex.org/W2949734191","https://openalex.org/W2017333877","https://openalex.org/W2048332520","https://openalex.org/W4233821346"],"abstract_inverted_index":{"This":[0,59,231],"work":[1],"creates":[2],"a":[3,13,26,32,35,40,62,67,114,130,187,197,202],"model":[4,68,232],"of":[5,8,12,20,34,46,69,73,93,100,108,133,156,166,186,237],"the":[6,21,44,70,84,90,103,154,157,179,190,210,224,228,238,246],"value":[7,107],"different":[9,169],"external":[10,74],"viewpoints":[11,47,75,82,101,110,138],"robot":[14,29,119],"performing":[15],"tasks.":[16],"The":[17,106,136,151],"current":[18],"state":[19],"practice":[22],"is":[23,48,111],"to":[24,30,56,65],"use":[25],"teleoperated":[27],"assistant":[28,247],"provide":[31],"view":[33],"task":[36],"being":[37],"performed":[38],"by":[39,160,214,219],"primary":[41],"robot;":[42],"however,":[43],"choice":[45],"ad":[49],"hoc":[50],"and":[51,96,127,181,216,221,242],"does":[52],"not":[53],"always":[54],"lead":[55],"improved":[57],"performance.":[58],"research":[60],"applies":[61],"psychomotor":[63,91],"approach":[64,159],"develop":[66],"relative":[71],"quality":[72],"using":[76,129,147],"Gibsonian":[77],"affordances.":[78],"In":[79],"this":[80],"approach,":[81],"for":[83,121,193,245],"affordances":[85,123],"are":[86,142,164,174,184],"rated":[87],"based":[88],"on":[89,178],"behavior":[92],"human":[94],"operators":[95,120],"clustered":[97,143],"into":[98,144],"manifolds":[99,146,165],"with":[102,116,139,201],"equivalent":[104],"value.":[105],"30":[109],"quantified":[112],"in":[113,209,223],"study":[115],"31":[117],"expert":[118],"four":[122],"(reachability,":[124],"passability,":[125],"manipulability,":[126],"traversability)":[128],"computer-based":[131],"simulator":[132],"two":[134],"robots.":[135],"adjacent":[137],"similar":[140],"values":[141,173,183],"ranked":[145],"agglomerative":[148],"hierarchical":[149],"clustering.":[150],"results":[152],"show":[153],"validity":[155],"affordance-based":[158],"confirming":[161],"that":[162],"there":[163],"statistically":[167,175,198],"significantly":[168,176],"viewpoint":[170,172,182,241],"values,":[171],"dependent":[177],"affordances,":[180],"independent":[185],"robot.":[188,248],"Furthermore,":[189],"best":[191,239],"manifold":[192],"each":[194],"affordance":[195],"provides":[196],"significant":[199],"improvement":[200,222],"large":[203],"Cohen's":[204],"d":[205],"effect":[206],"size":[207],"(1.1-2.3)":[208],"performance":[211,225],"(improving":[212],"time":[213],"14%-59%":[215],"reducing":[217],"errors":[218],"87%-100%)":[220],"variation":[226],"over":[227],"worst":[229],"manifold.":[230],"will":[233],"enable":[234],"autonomous":[235],"selection":[236],"possible":[240],"path":[243],"planning":[244]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}