{"id":"https://openalex.org/W2063597149","doi":"https://doi.org/10.1177/02783640022067210","title":"Multiple Center of Mass Space Images of Single Objects and Their Impact on Path Planning","display_name":"Multiple Center of Mass Space Images of Single Objects and Their Impact on Path Planning","publication_year":2000,"publication_date":"2000-09-01","ids":{"openalex":"https://openalex.org/W2063597149","doi":"https://doi.org/10.1177/02783640022067210","mag":"2063597149"},"language":"en","primary_location":{"id":"doi:10.1177/02783640022067210","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640022067210","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5046947235","display_name":"William R. Doggett","orcid":null},"institutions":[{"id":"https://openalex.org/I1319063186","display_name":"Langley Research Center","ror":"https://ror.org/0399mhs52","country_code":"US","type":"facility","lineage":["https://openalex.org/I1319063186","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"William R. Doggett","raw_affiliation_strings":["System Integration Branch, NASA Langley Research Center, Hampton,                         Virginia 23681-0001, USA","System Integration Branch, NASA Langley Research Center, Hampton, Virginia 23681-0001, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"System Integration Branch, NASA Langley Research Center, Hampton,                         Virginia 23681-0001, USA","institution_ids":["https://openalex.org/I1319063186"]},{"raw_affiliation_string":"System Integration Branch, NASA Langley Research Center, Hampton, Virginia 23681-0001, USA","institution_ids":["https://openalex.org/I1319063186"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108394035","display_name":"William Messner","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William C. Messner","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University,                         Pittsburgh, Pennsylvania 15251-6224, USA","Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania 15251-6224, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University,                         Pittsburgh, Pennsylvania 15251-6224, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania 15251-6224, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029583302","display_name":"Jer-Nan Juang","orcid":"https://orcid.org/0000-0002-3052-2833"},"institutions":[{"id":"https://openalex.org/I1319063186","display_name":"Langley Research Center","ror":"https://ror.org/0399mhs52","country_code":"US","type":"facility","lineage":["https://openalex.org/I1319063186","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jer-Nan Juang","raw_affiliation_strings":["Structural Dynamics Branch, NASA Langley Research Center, Hampton,                         Virginia 23681-0001, USA","Structural Dynamics Branch, NASA Langley Research Center, Hampton, Virginia 23681-0001, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Structural Dynamics Branch, NASA Langley Research Center, Hampton,                         Virginia 23681-0001, USA","institution_ids":["https://openalex.org/I1319063186"]},{"raw_affiliation_string":"Structural Dynamics Branch, NASA Langley Research Center, Hampton, Virginia 23681-0001, USA","institution_ids":["https://openalex.org/I1319063186"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5046947235"],"corresponding_institution_ids":["https://openalex.org/I1319063186"],"apc_list":null,"apc_paid":null,"fwci":0.4012,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.68781726,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"19","issue":"9","first_page":"848","last_page":"856"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987999796867371,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9968000054359436,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6925705075263977},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.6586520671844482},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6553506851196289},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.6382160782814026},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.52130126953125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5150253772735596},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4745127558708191},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4546731412410736},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.4329383671283722},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4275883436203003},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.41948699951171875},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36234936118125916},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33585119247436523},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3335772156715393},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3184361159801483},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.27723634243011475},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24496880173683167},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1923682987689972},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17405980825424194},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1608862578868866},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09440726041793823},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08367809653282166}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6925705075263977},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.6586520671844482},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6553506851196289},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6382160782814026},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.52130126953125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5150253772735596},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4745127558708191},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4546731412410736},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.4329383671283722},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4275883436203003},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.41948699951171875},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36234936118125916},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33585119247436523},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3335772156715393},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3184361159801483},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.27723634243011475},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24496880173683167},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1923682987689972},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17405980825424194},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1608862578868866},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09440726041793823},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08367809653282166},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783640022067210","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640022067210","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8199999928474426,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1638627511","https://openalex.org/W2002804012","https://openalex.org/W2127740252","https://openalex.org/W2132713308","https://openalex.org/W2142002389","https://openalex.org/W2151579107","https://openalex.org/W2329377491"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W2394276631","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W2106119116","https://openalex.org/W2904203243","https://openalex.org/W3139139461","https://openalex.org/W2125569607","https://openalex.org/W2084091668"],"abstract_inverted_index":{"The":[0,69,136],"center":[1,36,46,58,82,131],"of":[2,24,37,44,47,59,71,83,132,138,161],"mass":[3,38,48,60,84,133],"space":[4,8,39,134],"is":[5,40,121,142],"a":[6,25,51,56,76,97,119,148,162],"convenient":[7],"for":[9,50,123],"planning":[10,33],"motions":[11],"that":[12,152],"minimize":[13],"reaction":[14],"forces":[15],"at":[16],"the":[17,22,35,41,93,113,139,145,154,159,168],"manipulator\u2019s":[18,155],"base":[19,156],"or":[20,87],"optimize":[21],"stability":[23],"mechanism.":[26],"A":[27],"unique":[28],"problem":[29],"associated":[30],"with":[31,147],"path":[32,120,146],"in":[34,75,116,158],"potential":[42],"existence":[43,70],"multiple":[45,65,72,81,130],"images":[49,73],"single":[52,57,163],"Cartesian":[53,164],"obstacle,":[54],"since":[55],"location":[61],"can":[62],"correspond":[63],"to":[64,78,88,107,143],"manipulator":[66,94],"joint":[67,176],"configurations.":[68],"results":[74],"need":[77],"either":[79],"maintain":[80],"obstacle":[85,90],"maps":[86],"update":[89],"locations":[91],"when":[92,101],"passes":[95],"through":[96,129],"singularity,":[98],"such":[99],"as":[100],"it":[102],"moves":[103],"from":[104],"an":[105,108,124],"elbow-up":[106],"elbow-down":[109],"configuration.":[110],"To":[111,166],"illustrate":[112],"concepts":[114],"presented":[115],"this":[117],"paper,":[118],"planned":[122],"example":[125],"task":[126],"requiring":[127],"motion":[128],"maps.":[135],"object":[137],"path-planning":[140],"algorithm":[141],"locate":[144],"bang-bang":[149],"acceleration":[150],"profile":[151],"minimizes":[153],"reactions":[157],"presence":[160],"obstacle.":[165],"simplify":[167],"presentation,":[169],"only":[170],"nonredundant":[171],"manipulators":[172],"are":[173,178],"considered":[174],"and":[175],"nonlinearities":[177],"neglected.":[179]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}