{"id":"https://openalex.org/W3172496056","doi":"https://doi.org/10.1142/s0219843621500080","title":"The Math of Tasks: A Domain Specific Language for Constraint-Based Task Specification","display_name":"The Math of Tasks: A Domain Specific Language for Constraint-Based Task Specification","publication_year":2021,"publication_date":"2021-06-01","ids":{"openalex":"https://openalex.org/W3172496056","doi":"https://doi.org/10.1142/s0219843621500080","mag":"3172496056"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843621500080","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843621500080","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046447340","display_name":"Enrico Mingo Hoffman","orcid":"https://orcid.org/0000-0003-2063-7490"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Enrico Mingo Hoffman","raw_affiliation_strings":["Humanoid and Human Centered Mechatronics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-2063-7490","affiliations":[{"raw_affiliation_string":"Humanoid and Human Centered Mechatronics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Humanoid and Human Centered Mechatronics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid and Human Centered Mechatronics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.406,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.59346833,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"18","issue":"03","first_page":"2150008","last_page":"2150008"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9994000196456909,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9965000152587891,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9954000115394592,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.803640604019165},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.6006001830101013},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5316289663314819},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5257568955421448},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.46853533387184143},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.46475163102149963},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.46001455187797546},{"id":"https://openalex.org/keywords/domain-specific-language","display_name":"Domain-specific language","score":0.42523157596588135},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4116429388523102},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3435709774494171},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3223115801811218},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.28392893075942993},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.105023592710495}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.803640604019165},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.6006001830101013},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5316289663314819},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5257568955421448},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.46853533387184143},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.46475163102149963},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.46001455187797546},{"id":"https://openalex.org/C135257023","wikidata":"https://www.wikidata.org/wiki/Q691358","display_name":"Domain-specific language","level":2,"score":0.42523157596588135},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4116429388523102},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3435709774494171},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3223115801811218},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.28392893075942993},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.105023592710495},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843621500080","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843621500080","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W109296386","https://openalex.org/W1513220402","https://openalex.org/W1617153945","https://openalex.org/W1971893566","https://openalex.org/W2013439434","https://openalex.org/W2019606703","https://openalex.org/W2049283361","https://openalex.org/W2053000265","https://openalex.org/W2105660272","https://openalex.org/W2114872772","https://openalex.org/W2118395698","https://openalex.org/W2151252899","https://openalex.org/W2151992157","https://openalex.org/W2154847670","https://openalex.org/W2169360335","https://openalex.org/W2169564405","https://openalex.org/W2769646558","https://openalex.org/W2782864198","https://openalex.org/W2910956759","https://openalex.org/W2911445204","https://openalex.org/W2913201817","https://openalex.org/W2968694796","https://openalex.org/W3001910550","https://openalex.org/W3101798601"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2543019745","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2088677124","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2143454724"],"abstract_inverted_index":{"This":[0,90],"paper":[1,91],"proposes":[2],"a":[3,10,49],"Domain":[4],"Specific":[5],"Language":[6],"to":[7,44],"describe":[8,71],"in":[9],"synthetic":[11],"and":[12,53,116],"comprehensive":[13],"way,":[14],"complex":[15],"control":[16,64,103],"problems":[17,104],"for":[18,105],"robotic":[19,109],"systems.":[20],"The":[21,66],"proposed":[22,97],"language,":[23],"named":[24],"Math":[25,67],"of":[26,33,51,62,68,74,78,95,108],"Tasks,":[27],"abstracts":[28],"from":[29,101],"the":[30,34,40,60,63,79,93,96],"mathematical":[31],"description":[32],"problem,":[35],"which":[36,55],"heavily":[37],"depends":[38],"on":[39,48],"particular":[41,80],"algorithm":[42],"chosen":[43],"solve":[45],"it,":[46],"relying":[47],"set":[50],"operators":[52],"entities":[54],"instead,":[56],"composed":[57],"together,":[58],"describes":[59],"behavior":[61],"problem.":[65],"Tasks":[69],"can":[70],"any":[72],"type":[73],"instantaneous":[75],"controller":[76],"regardless":[77],"controlled":[81],"variable":[82],"(e.g.,":[83],"joint":[84,86],"velocity,":[85],"acceleration,":[87],"contact":[88],"forces).":[89],"shows":[92],"convenience":[94],"formalism":[98],"using":[99],"examples":[100],"classical":[102],"different":[106],"types":[107],"platforms":[110],"such":[111],"as":[112],"manipulators,":[113],"humanoid":[114],"bipeds,":[115],"quadrupeds.":[117]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
