{"id":"https://openalex.org/W2044995998","doi":"https://doi.org/10.1177/0278364904045471","title":"Manipulation Planning with Probabilistic Roadmaps","display_name":"Manipulation Planning with Probabilistic Roadmaps","publication_year":2004,"publication_date":"2004-08-01","ids":{"openalex":"https://openalex.org/W2044995998","doi":"https://doi.org/10.1177/0278364904045471","mag":"2044995998"},"language":"en","primary_location":{"id":"doi:10.1177/0278364904045471","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364904045471","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/A5053083218","display_name":"Thierry Sim\u00e9on","orcid":"https://orcid.org/0000-0001-9815-753X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Thierry Sim\u00e9on","raw_affiliation_strings":["\u00c9quipe Robotique et InteractionS"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9quipe Robotique et InteractionS","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108497455","display_name":"Jean\u2010Paul Laumond","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jean-Paul Laumond","raw_affiliation_strings":["\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073142247","display_name":"Juan Cort\u00e9s","orcid":"https://orcid.org/0000-0002-4660-0306"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Juan Cort\u00e9s","raw_affiliation_strings":["\u00c9quipe Robotique et InteractionS"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9quipe Robotique et InteractionS","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065975053","display_name":"Anis Sahbani","orcid":"https://orcid.org/0000-0001-6817-1146"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Anis Sahbani","raw_affiliation_strings":["LAAS-CNRS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5053083218"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.9713,"has_fulltext":false,"cited_by_count":275,"citation_normalized_percentile":{"value":0.95696853,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"23","issue":"7-8","first_page":"729","last_page":"746"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9923999905586243,"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":0.9922999739646912,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.9072343111038208},{"id":"https://openalex.org/keywords/subspace-topology","display_name":"Subspace topology","score":0.7128806710243225},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.708269476890564},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6714520454406738},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.6673589944839478},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.640657365322113},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6166660189628601},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.5871372222900391},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5803408622741699},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5774509310722351},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5762578845024109},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4881466329097748},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.46687549352645874},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4634777009487152},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4344680905342102},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3433516323566437},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3288046717643738},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28111565113067627}],"concepts":[{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.9072343111038208},{"id":"https://openalex.org/C32834561","wikidata":"https://www.wikidata.org/wiki/Q660730","display_name":"Subspace topology","level":2,"score":0.7128806710243225},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.708269476890564},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6714520454406738},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.6673589944839478},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.640657365322113},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6166660189628601},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.5871372222900391},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5803408622741699},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5774509310722351},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5762578845024109},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4881466329097748},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.46687549352645874},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4634777009487152},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4344680905342102},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3433516323566437},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3288046717643738},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28111565113067627},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364904045471","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364904045471","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W77797718","https://openalex.org/W101508493","https://openalex.org/W207352130","https://openalex.org/W373813039","https://openalex.org/W1481480391","https://openalex.org/W1558116630","https://openalex.org/W1586438301","https://openalex.org/W1906034729","https://openalex.org/W1978301848","https://openalex.org/W1990677634","https://openalex.org/W2021015328","https://openalex.org/W2098030884","https://openalex.org/W2103524001","https://openalex.org/W2123568722","https://openalex.org/W2124159396","https://openalex.org/W2128647215","https://openalex.org/W2131011485","https://openalex.org/W2141664020","https://openalex.org/W2146467128","https://openalex.org/W2153996255","https://openalex.org/W2155752816","https://openalex.org/W2159672814","https://openalex.org/W2161473822","https://openalex.org/W2163171217","https://openalex.org/W2165375872","https://openalex.org/W2169784297","https://openalex.org/W2174014610","https://openalex.org/W2175383612","https://openalex.org/W3195006057","https://openalex.org/W4242811155","https://openalex.org/W4285719527","https://openalex.org/W6603146607","https://openalex.org/W6647939880","https://openalex.org/W6683234668","https://openalex.org/W6684397538","https://openalex.org/W6684594503"],"related_works":["https://openalex.org/W2060743914","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W2389713625","https://openalex.org/W2107702345","https://openalex.org/W2115192598","https://openalex.org/W4367628293","https://openalex.org/W2101993361","https://openalex.org/W1510039162"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3,105],"motion":[4],"planning":[5,18],"for":[6,25],"robots":[7],"manipulating":[8],"movable":[9,37],"objects":[10],"among":[11],"obstacles.":[12],"We":[13],"propose":[14],"a":[15,54,76,84,90],"general":[16],"manipulation":[17,85,117],"approach":[19],"capable":[20],"of":[21,35,61,66,95,98],"addressing":[22],"continuous":[23],"sets":[24,42],"modeling":[26],"both":[27],"the":[28,32,36,46,59,64,69,72,93,99,106],"possible":[29],"grasps":[30,71],"and":[31],"stable":[33,77],"placements":[34],"object,":[38],"rather":[39],"than":[40],"discrete":[41],"generally":[43],"assumed":[44],"by":[45],"previous":[47],"approaches.":[48],"The":[49],"proposed":[50],"algorithm":[51],"relies":[52],"on":[53],"topological":[55],"property":[56],"that":[57,87],"characterizes":[58],"existence":[60],"solutions":[62],"in":[63,89,108],"subspace":[65],"configurations":[67],"where":[68],"robot":[70],"object":[73],"placed":[74],"at":[75],"position.":[78],"It":[79],"allows":[80],"us":[81],"to":[82,114],"devise":[83],"planner":[86,107],"captures":[88],"probabilistic":[91],"roadmap":[92],"connectivity":[94],"sub-dimensional":[96],"manifolds":[97],"composite":[100],"configuration":[101],"space.":[102],"Experiments":[103],"conducted":[104],"simulated":[109],"environments":[110],"demonstrate":[111],"its":[112],"efficacy":[113],"solve":[115],"complex":[116],"problems.":[118]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":21},{"year":2019,"cited_by_count":20},{"year":2018,"cited_by_count":31},{"year":2017,"cited_by_count":14},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":26},{"year":2014,"cited_by_count":14},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":8}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}