{"id":"https://openalex.org/W2785516693","doi":"https://doi.org/10.1142/s0219843618500147","title":"GPAtlasRRT: A Local Tactile Exploration Planner for Recovering the Shape of Novel Objects","display_name":"GPAtlasRRT: A Local Tactile Exploration Planner for Recovering the Shape of Novel Objects","publication_year":2018,"publication_date":"2018-02-01","ids":{"openalex":"https://openalex.org/W2785516693","doi":"https://doi.org/10.1142/s0219843618500147","mag":"2785516693"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843618500147","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843618500147","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.worldscientific.com/doi/abs/10.1142/S0219843618500147","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112217286","display_name":"Carlos Rosales","orcid":null},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Carlos Rosales","raw_affiliation_strings":["Centro di Ricerca E. Piaggio, Universit\u00e0 di Pisa, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro di Ricerca E. Piaggio, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069772051","display_name":"Federico Spinelli","orcid":null},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Federico Spinelli","raw_affiliation_strings":["Centro di Ricerca E. Piaggio, Universit\u00e0 di Pisa, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro di Ricerca E. Piaggio, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059942628","display_name":"Marco Gabiccini","orcid":"https://orcid.org/0000-0001-5670-892X"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Gabiccini","raw_affiliation_strings":["Dipartimento di Ingegneria Civile e Industriale, Largo Lucio Lazzarino 1, Universita di Pisa, 56122 Pisa Pl, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Civile e Industriale, Largo Lucio Lazzarino 1, Universita di Pisa, 56122 Pisa Pl, Italy","institution_ids":["https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072473987","display_name":"Claudio Zito","orcid":"https://orcid.org/0000-0002-2943-3518"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Claudio Zito","raw_affiliation_strings":["IRLab, CN\u2013CR, School of Computer Science, University of Birmingham, Birmingham B15 2TT, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRLab, CN\u2013CR, School of Computer Science, University of Birmingham, Birmingham B15 2TT, UK","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069031865","display_name":"Jeremy Wyatt","orcid":"https://orcid.org/0000-0001-6991-356X"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jeremy L. Wyatt","raw_affiliation_strings":["IRLab, CN\u2013CR, School of Computer Science, University of Birmingham, Birmingham B15 2TT, UK"],"raw_orcid":"https://orcid.org/0000-0001-6991-356X","affiliations":[{"raw_affiliation_string":"IRLab, CN\u2013CR, School of Computer Science, University of Birmingham, Birmingham B15 2TT, UK","institution_ids":["https://openalex.org/I79619799"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5112217286"],"corresponding_institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"],"apc_list":null,"apc_paid":null,"fwci":2.6216,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.90011322,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"15","issue":"01","first_page":"1850014","last_page":"1850014"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9932000041007996,"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":0.9932000041007996,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9580000042915344,"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"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9480000138282776,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7776128649711609},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7430300116539001},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7400611639022827},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.696186900138855},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6723371744155884},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6320379972457886},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5020744800567627},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.47335124015808105},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.44825032353401184},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.41412627696990967}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7776128649711609},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7430300116539001},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7400611639022827},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.696186900138855},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6723371744155884},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6320379972457886},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5020744800567627},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.47335124015808105},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.44825032353401184},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.41412627696990967},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1142/s0219843618500147","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843618500147","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arpi.unipi.it:11568/917300","is_oa":true,"landing_page_url":"https://www.worldscientific.com/doi/abs/10.1142/S0219843618500147","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"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":"info:eu-repo/semantics/article"},{"id":"pmh:oai:pure.atira.dk:Publications/a86d9133-a1be-4584-a4f1-d2da69984c69","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/a86d9133-a1be-4584-a4f1-d2da69984c69","is_oa":true,"landing_page_url":"https://research.birmingham.ac.uk/en/publications/a86d9133-a1be-4584-a4f1-d2da69984c69","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"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":"Rosales, C, Spinelli, F, Gabiccini, M, Zito, C & Wyatt, J 2018, 'GPAtlasRRT: A local tactile exploration planner for recovering the shape of novel objects.', International Journal of Humanoid Robotics, vol. 15, 1850014. https://doi.org/10.1142/S0219843618500147","raw_type":"article"},{"id":"pmh:oai:pure.atira.dk:publications/a86d9133-a1be-4584-a4f1-d2da69984c69","is_oa":false,"landing_page_url":"https://research.birmingham.ac.uk/portal/en/publications/gpatlasrrt-a-local-tactile-exploration-planner-for-recovering-the-shape-of-novel-objects(a86d9133-a1be-4584-a4f1-d2da69984c69).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:arpi.unipi.it:11568/917300","is_oa":true,"landing_page_url":"https://www.worldscientific.com/doi/abs/10.1142/S0219843618500147","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"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":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3655956768","display_name":null,"funder_award_id":"600918","funder_id":"https://openalex.org/F4320334960","funder_display_name":"Seventh Framework Programme"}],"funders":[{"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":43,"referenced_works":["https://openalex.org/W12410007","https://openalex.org/W31424620","https://openalex.org/W117103449","https://openalex.org/W121511052","https://openalex.org/W260493032","https://openalex.org/W747817803","https://openalex.org/W1525077055","https://openalex.org/W1532977286","https://openalex.org/W1533483954","https://openalex.org/W1706124764","https://openalex.org/W1992415357","https://openalex.org/W1999801207","https://openalex.org/W2012224615","https://openalex.org/W2021314974","https://openalex.org/W2021570254","https://openalex.org/W2050595634","https://openalex.org/W2057493164","https://openalex.org/W2060756050","https://openalex.org/W2064628483","https://openalex.org/W2098626000","https://openalex.org/W2100313657","https://openalex.org/W2103776982","https://openalex.org/W2107153006","https://openalex.org/W2112714380","https://openalex.org/W2115846099","https://openalex.org/W2164575107","https://openalex.org/W2165143346","https://openalex.org/W2180140657","https://openalex.org/W2300618187","https://openalex.org/W2343440602","https://openalex.org/W2524448901","https://openalex.org/W2528124744","https://openalex.org/W2561266087","https://openalex.org/W2567813906","https://openalex.org/W2567969112","https://openalex.org/W2570268714","https://openalex.org/W2585610283","https://openalex.org/W2606880746","https://openalex.org/W2901136733","https://openalex.org/W2971826558","https://openalex.org/W2999905431","https://openalex.org/W4211049957","https://openalex.org/W4231002530"],"related_works":["https://openalex.org/W2975200075","https://openalex.org/W2007544051","https://openalex.org/W2979718872","https://openalex.org/W3158534694","https://openalex.org/W1837097281","https://openalex.org/W1966410754","https://openalex.org/W2363840281","https://openalex.org/W2325242284","https://openalex.org/W2789220062","https://openalex.org/W2030539674"],"abstract_inverted_index":{"Touch":[0],"is":[1,32,40,53],"an":[2,68,101],"important":[3],"modality":[4],"to":[5,16,34,66],"recover":[6],"object":[7,51,76,98,167],"shape.":[8],"We":[9,154],"present":[10,83],"a":[11,14,18,46,73,84,91,119,151,173],"method":[12],"for":[13,42],"robot":[15],"complete":[17,148],"partial":[19],"shape":[20,168],"model":[21,95],"by":[22,56],"local":[23,27,37,85],"tactile":[24,28,86,120],"exploration.":[25],"In":[26],"exploration,":[29],"the":[30,36,50,97,107,111,130,139,147,161,165],"finger":[31],"constrained":[33],"follow":[35],"surface.":[38],"This":[39,89],"useful":[41],"recovering":[43],"information":[44],"about":[45],"contiguous":[47],"portion":[48],"of":[49,72,96,113,132,176],"and":[52,79,110,145,163],"frequently":[54],"employed":[55],"humans.":[57],"There":[58],"are":[59],"three":[60],"contributions.":[61],"First,":[62],"we":[63,82,136],"show":[64,155],"how":[65],"segment":[67],"initial":[69],"point":[70],"cloud":[71],"grasped,":[74],"unknown":[75],"into":[77],"hand":[78],"object.":[80],"Second,":[81],"exploration":[87,121],"planner.":[88,103],"combines":[90],"Gaussian":[92],"Process":[93],"(GP)":[94],"surface":[99,109],"with":[100,141,172],"AtlasRRT":[102,117],"The":[104,116],"GP":[105],"predicts":[106],"unexplored":[108],"uncertainty":[112],"that":[114,156,164],"prediction.":[115],"creates":[118],"path":[122],"across":[123],"this":[124],"predicted":[125],"surface,":[126],"driving":[127],"it":[128],"towards":[129],"region":[131],"greatest":[133],"uncertainty.":[134],"Finally,":[135],"experimentally":[137],"compare":[138],"planner":[140,158],"alternatives":[142],"in":[143],"simulation,":[144],"demonstrate":[146],"approach":[149],"on":[150],"real":[152],"robot.":[153],"our":[157],"successfully":[159],"traverses":[160],"object,":[162],"full":[166],"can":[169],"be":[170],"recovered":[171],"good":[174],"degree":[175],"accuracy.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2018-02-23T00:00:00"}
