{"id":"https://openalex.org/W1994068653","doi":"https://doi.org/10.1137/s0097539794263191","title":"Efficiently Planning Compliant Motion in the Plane","display_name":"Efficiently Planning Compliant Motion in the Plane","publication_year":1996,"publication_date":"1996-06-01","ids":{"openalex":"https://openalex.org/W1994068653","doi":"https://doi.org/10.1137/s0097539794263191","mag":"1994068653"},"language":"en","primary_location":{"id":"doi:10.1137/s0097539794263191","is_oa":false,"landing_page_url":"https://doi.org/10.1137/s0097539794263191","pdf_url":null,"source":{"id":"https://openalex.org/S153560523","display_name":"SIAM Journal on Computing","issn_l":"0097-5397","issn":["0097-5397","1095-7111"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320508","host_organization_name":"Society for Industrial and Applied Mathematics","host_organization_lineage":["https://openalex.org/P4310320508"],"host_organization_lineage_names":["Society for Industrial and Applied Mathematics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SIAM Journal on Computing","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/A5041694148","display_name":"J. Friedman","orcid":null},"institutions":[{"id":"https://openalex.org/I2799548008","display_name":"D. E. Shaw Research","ror":"https://ror.org/02s04h872","country_code":"US","type":"company","lineage":["https://openalex.org/I2799548008"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"J. Friedman","raw_affiliation_strings":["D. E. Shaw and Company"],"affiliations":[{"raw_affiliation_string":"D. E. Shaw and Company","institution_ids":["https://openalex.org/I2799548008"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038416046","display_name":"John Hershberger","orcid":null},"institutions":[{"id":"https://openalex.org/I105695857","display_name":"Siemens (Hungary)","ror":"https://ror.org/01rk7mv85","country_code":"HU","type":"company","lineage":["https://openalex.org/I105695857","https://openalex.org/I1325886976"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"J. Hershberger","raw_affiliation_strings":["[Mentor Graphics Corporation]"],"affiliations":[{"raw_affiliation_string":"[Mentor Graphics Corporation]","institution_ids":["https://openalex.org/I105695857"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074061303","display_name":"Jack Snoeyink","orcid":"https://orcid.org/0000-0002-3887-4008"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"J. Snoeyink","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5041694148"],"corresponding_institution_ids":["https://openalex.org/I2799548008"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.12606878,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"25","issue":"3","first_page":"562","last_page":"599"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/obstacle","display_name":"Obstacle","score":0.7679957151412964},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7253325581550598},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.7025529742240906},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6780180335044861},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6517863273620605},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.614133894443512},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5650097727775574},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5569693446159363},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5107462406158447},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.490018755197525},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46983927488327026},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.42538774013519287},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41714349389076233},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19088080525398254},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15964937210083008}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7679957151412964},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7253325581550598},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.7025529742240906},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6780180335044861},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6517863273620605},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.614133894443512},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5650097727775574},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5569693446159363},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5107462406158447},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.490018755197525},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46983927488327026},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.42538774013519287},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41714349389076233},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19088080525398254},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15964937210083008},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1137/s0097539794263191","is_oa":false,"landing_page_url":"https://doi.org/10.1137/s0097539794263191","pdf_url":null,"source":{"id":"https://openalex.org/S153560523","display_name":"SIAM Journal on Computing","issn_l":"0097-5397","issn":["0097-5397","1095-7111"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320508","host_organization_name":"Society for Industrial and Applied Mathematics","host_organization_lineage":["https://openalex.org/P4310320508"],"host_organization_lineage_names":["Society for Industrial and Applied Mathematics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SIAM Journal on Computing","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.18.4824","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.18.4824","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.unc.edu/~snoeyink/papers/compliant.ps.gz","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1505854147","https://openalex.org/W1509580513","https://openalex.org/W1544287772","https://openalex.org/W1556795538","https://openalex.org/W1964869106","https://openalex.org/W1965440866","https://openalex.org/W1965466436","https://openalex.org/W1983487792","https://openalex.org/W1994094252","https://openalex.org/W2020655744","https://openalex.org/W2022322339","https://openalex.org/W2034469604","https://openalex.org/W2042039784","https://openalex.org/W2059030232","https://openalex.org/W2073058919","https://openalex.org/W2077180154","https://openalex.org/W2081777693","https://openalex.org/W2106413026","https://openalex.org/W2126876121","https://openalex.org/W2129879687","https://openalex.org/W2132026455","https://openalex.org/W2153759243","https://openalex.org/W2163178194","https://openalex.org/W2911302472","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W2126807813","https://openalex.org/W2051516969","https://openalex.org/W2045615376","https://openalex.org/W2242126349","https://openalex.org/W2166492906","https://openalex.org/W4293799789","https://openalex.org/W1605248340","https://openalex.org/W2382934686","https://openalex.org/W2110946546","https://openalex.org/W3181271849"],"abstract_inverted_index":{"Any":[0],"practical":[1],"model":[2,19],"of":[3,44,98,102,120],"robotic":[4],"motion":[5,46,86],"must":[6],"cope":[7],"with":[8,130],"the":[9,35,42,48,66,75,89,96,99,103,137],"uncertainty":[10,69],"and":[11,53,72,105,115,125],"imprecision":[12],"inherent":[13],"in":[14,23,47,70,136],"real":[15],"robots.":[16,112],"One":[17],"important":[18],"is":[20],"compliant":[21,45,85],"motion,":[22],"which":[24],"a":[25,55,63,84],"robot":[26],"that":[27,87],"encounters":[28],"an":[29],"obstacle":[30],"obliquely":[31],"may":[32],"slide":[33],"along":[34],"obstacle.":[36],"The":[37],"authors":[38,67],"start":[39],"by":[40],"investigating":[41],"geometry":[43],"plane":[49],"under":[50],"perfect":[51],"control":[52,71],"find":[54,82],"compact":[56],"data":[57,77],"structure":[58,78],"encoding":[59],"all":[60],"paths":[61],"to":[62,81,94,106],"goal.":[64],"When":[65],"introduce":[68],"position":[73],"sensing,":[74],"same":[76,138],"allows":[79],"them":[80],"efficiently":[83],"reaches":[88],"goal,":[90,104],"if":[91],"one":[92],"exists,":[93],"compute":[95,107],"boundary":[97],"nondirectional":[100],"backprojection":[101],"multistep":[108],"plans":[109],"for":[110,122,127],"sensorless":[111],"This":[113],"\u201cpreprocessing":[114],"query\u201d":[116],"approach":[117],"has":[118],"advantages":[119],"speed":[121],"online":[123],"queries":[124],"flexibility":[126],"considering":[128],"robots":[129],"different":[131],"capabilities":[132],"or":[133],"initial":[134],"positions":[135],"environment.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
