{"id":"https://openalex.org/W2952659826","doi":"https://doi.org/10.1145/3322276.3322278","title":"V.Ra","display_name":"V.Ra","publication_year":2019,"publication_date":"2019-06-18","ids":{"openalex":"https://openalex.org/W2952659826","doi":"https://doi.org/10.1145/3322276.3322278","mag":"2952659826"},"language":"en","primary_location":{"id":"doi:10.1145/3322276.3322278","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3322276.3322278","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3322276.3322278","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2019 on Designing Interactive Systems Conference","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3322276.3322278","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113873091","display_name":"Yuanzhi Cao","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yuanzhi Cao","raw_affiliation_strings":["Purdue University, West Lafayette, IN, USA"],"affiliations":[{"raw_affiliation_string":"Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101056463","display_name":"Zhuangying Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhuangying Xu","raw_affiliation_strings":["Purdue University, West Lafayette, IN, USA"],"affiliations":[{"raw_affiliation_string":"Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100373601","display_name":"Fan Li","orcid":"https://orcid.org/0000-0003-2584-3162"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Li","raw_affiliation_strings":["Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078980880","display_name":"Wentao Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao Zhong","raw_affiliation_strings":["Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110449430","display_name":"Ke Huo","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ke Huo","raw_affiliation_strings":["Purdue university, West lafayette, IN, USA"],"affiliations":[{"raw_affiliation_string":"Purdue university, West lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004602626","display_name":"Karthik Ramani","orcid":"https://orcid.org/0000-0001-8639-5135"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karthik Ramani","raw_affiliation_strings":["Purdue University, West Lafayette, IN, USA"],"affiliations":[{"raw_affiliation_string":"Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5113873091"],"corresponding_institution_ids":["https://openalex.org/I219193219"],"apc_list":null,"apc_paid":null,"fwci":2.9937,"has_fulltext":true,"cited_by_count":41,"citation_normalized_percentile":{"value":0.91403737,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1059","last_page":"1070"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","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/T13382","display_name":"Robotics and Automated Systems","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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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/T10888","display_name":"Augmented Reality Applications","score":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8041476011276245},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7052712440490723},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6654759645462036},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6612889766693115},{"id":"https://openalex.org/keywords/augmented-reality","display_name":"Augmented reality","score":0.644127607345581},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6039304733276367},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5125572681427002},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.49787139892578125},{"id":"https://openalex.org/keywords/mobile-device","display_name":"Mobile device","score":0.48917344212532043},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.47367459535598755},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.4691518545150757},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4494032561779022},{"id":"https://openalex.org/keywords/user-interface","display_name":"User interface","score":0.42777788639068604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27106621861457825},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08096051216125488},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.06954380869865417},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.06912466883659363}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8041476011276245},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7052712440490723},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6654759645462036},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6612889766693115},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.644127607345581},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6039304733276367},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5125572681427002},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.49787139892578125},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.48917344212532043},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.47367459535598755},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.4691518545150757},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4494032561779022},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.42777788639068604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27106621861457825},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08096051216125488},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.06954380869865417},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.06912466883659363},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3322276.3322278","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3322276.3322278","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3322276.3322278","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2019 on Designing Interactive Systems Conference","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3322276.3322278","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3322276.3322278","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3322276.3322278","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2019 on Designing Interactive Systems Conference","raw_type":"proceedings-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","score":0.41999998688697815,"display_name":"Life in Land"}],"awards":[{"id":"https://openalex.org/G1781657646","display_name":null,"funder_award_id":"1637961","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5579620790","display_name":null,"funder_award_id":"1632154","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8880756543","display_name":null,"funder_award_id":"1839971","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2952659826.pdf","grobid_xml":"https://content.openalex.org/works/W2952659826.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W1517943492","https://openalex.org/W1964695965","https://openalex.org/W1964749136","https://openalex.org/W1979182443","https://openalex.org/W1992680945","https://openalex.org/W1993436304","https://openalex.org/W2001427579","https://openalex.org/W2001461527","https://openalex.org/W2004887586","https://openalex.org/W2014073163","https://openalex.org/W2014124863","https://openalex.org/W2014870037","https://openalex.org/W2030286598","https://openalex.org/W2046469940","https://openalex.org/W2058726920","https://openalex.org/W2078837275","https://openalex.org/W2101464812","https://openalex.org/W2120477086","https://openalex.org/W2128378943","https://openalex.org/W2134295053","https://openalex.org/W2137509451","https://openalex.org/W2144359515","https://openalex.org/W2154726058","https://openalex.org/W2164474021","https://openalex.org/W2164639174","https://openalex.org/W2330383126","https://openalex.org/W2372836446","https://openalex.org/W2460329157","https://openalex.org/W2556467431","https://openalex.org/W2569644762","https://openalex.org/W2593071205","https://openalex.org/W2624190076","https://openalex.org/W2624324171","https://openalex.org/W2643294263","https://openalex.org/W2760735355","https://openalex.org/W2791083121","https://openalex.org/W2791292784","https://openalex.org/W2793116587","https://openalex.org/W2795856457","https://openalex.org/W2796150470","https://openalex.org/W2809853075","https://openalex.org/W2897697648","https://openalex.org/W4206434639"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W2170661558","https://openalex.org/W2106517143","https://openalex.org/W2001146265","https://openalex.org/W4292862729"],"abstract_inverted_index":{"We":[0,31,119],"present":[1],"V.Ra,":[2,14],"a":[3,85],"visual":[4],"and":[5,27,50,99,104,115,126,130,138],"spatial":[6],"programming":[7],"system":[8],"for":[9],"robot-IoT":[10],"task":[11,44,61,82,132],"authoring.":[12],"In":[13],"programmable":[15],"mobile":[16,55,77,90],"robots":[17],"serve":[18],"as":[19],"binding":[20],"agents":[21],"to":[22],"link":[23],"the":[24,38,47,64,72,76,81,93,96,100,106,111],"stationary":[25],"IoTs":[26],"perform":[28,60],"collaborative":[29],"tasks.":[30],"establish":[32],"an":[33],"ecosystem":[34],"that":[35,121],"coherently":[36],"connects":[37],"three":[39],"key":[40],"elements":[41],"of":[42],"robot":[43,49,78],"planning":[45,108],",":[46],"human,":[48],"IoT,":[51],"with":[52,63,110],"one":[53],"single":[54],"AR":[56,73],"device.":[57],"Users":[58],"can":[59],"authoring":[62,133],"Augmented":[65],"Reality":[66],"(AR)":[67],"handheld":[68],"interface,":[69],"then":[70],"placing":[71],"device":[74,91],"onto":[75],"directly":[79],"transfers":[80],"plan":[83],"in":[84],"what-you-do-is-what-robot-does":[86],"(WYDWRD)":[87],"manner.":[88],"The":[89],"mediates":[92],"interactions":[94],"between":[95],"user,":[97],"robot,":[98],"IoT":[101],"oriented":[102],"tasks,":[103],"guides":[105],"path":[107],"execution":[109],"embedded":[112],"simultaneous":[113],"localization":[114],"mapping":[116],"(SLAM)":[117],"capability.":[118],"demonstrate":[120],"V.Ra":[122],"enables":[123],"instant,":[124],"robust":[125],"intuitive":[127],"room-scale":[128],"navigatory":[129],"interactive":[131],"through":[134],"various":[135],"use":[136],"cases":[137],"preliminary":[139],"studies.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2019-06-27T00:00:00"}