{"id":"https://openalex.org/W2045252131","doi":"https://doi.org/10.1177/0278364904050079","title":"Task Planning With Active Sensing For Autonomous Compliant Motion","display_name":"Task Planning With Active Sensing For Autonomous Compliant Motion","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2045252131","doi":"https://doi.org/10.1177/0278364904050079","mag":"2045252131"},"language":"en","primary_location":{"id":"doi:10.1177/0278364904050079","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364904050079","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/A5109223221","display_name":"Tine Lefebvre","orcid":null},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Tine Lefebvre","raw_affiliation_strings":["Katholieke Universiteit Leuven, Department of Mechanical Engineering,                         Celestijnenlaan 300B, B-3001 Leuven (Heverlee), Belgium","Katholieke Universiteit Leuven, Department of Mechanical Engineering, Celestijnenlaan 300B, B-3001 Leuven (Heverlee), Belgium,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Katholieke Universiteit Leuven, Department of Mechanical Engineering,                         Celestijnenlaan 300B, B-3001 Leuven (Heverlee), Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Katholieke Universiteit Leuven, Department of Mechanical Engineering, Celestijnenlaan 300B, B-3001 Leuven (Heverlee), Belgium,","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009116988","display_name":"Herman Bruyninckx","orcid":"https://orcid.org/0000-0003-3776-1025"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Herman Bruyninckx","raw_affiliation_strings":["Katholieke Universiteit Leuven, Department of Mechanical Engineering,                         Celestijnenlaan 300B, B-3001 Leuven (Heverlee), Belgium","Katholieke Universiteit Leuven, Department of Mechanical Engineering, Celestijnenlaan 300B, B-3001 Leuven (Heverlee), Belgium,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Katholieke Universiteit Leuven, Department of Mechanical Engineering,                         Celestijnenlaan 300B, B-3001 Leuven (Heverlee), Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Katholieke Universiteit Leuven, Department of Mechanical Engineering, Celestijnenlaan 300B, B-3001 Leuven (Heverlee), Belgium,","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006282526","display_name":"Joris De Schutter","orcid":"https://orcid.org/0000-0001-9619-5815"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Joris De Schutter","raw_affiliation_strings":["Katholieke Universiteit Leuven, Department of Mechanical Engineering,                         Celestijnenlaan 300B, B-3001 Leuven (Heverlee), Belgium,","Katholieke Universiteit Leuven, Department of Mechanical Engineering, Celestijnenlaan 300B, B-3001 Leuven (Heverlee), Belgium,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Katholieke Universiteit Leuven, Department of Mechanical Engineering,                         Celestijnenlaan 300B, B-3001 Leuven (Heverlee), Belgium,","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Katholieke Universiteit Leuven, Department of Mechanical Engineering, Celestijnenlaan 300B, B-3001 Leuven (Heverlee), Belgium,","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5006282526"],"corresponding_institution_ids":["https://openalex.org/I99464096"],"apc_list":null,"apc_paid":null,"fwci":7.7184,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.96667753,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"24","issue":"1","first_page":"61","last_page":"81"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.995199978351593,"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":0.995199978351593,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9868000149726868,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/heuristics","display_name":"Heuristics","score":0.7124683856964111},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6189799308776855},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6045345664024353},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.536918580532074},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.530480682849884},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4780288636684418},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.45646584033966064},{"id":"https://openalex.org/keywords/observable","display_name":"Observable","score":0.4204102158546448},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4114212095737457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3893524408340454},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36908477544784546},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32207250595092773},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.29657110571861267},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2505913972854614},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2029390037059784},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09492146968841553}],"concepts":[{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.7124683856964111},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6189799308776855},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6045345664024353},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.536918580532074},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.530480682849884},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4780288636684418},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.45646584033966064},{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.4204102158546448},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4114212095737457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3893524408340454},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36908477544784546},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32207250595092773},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.29657110571861267},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2505913972854614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2029390037059784},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09492146968841553},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1177/0278364904050079","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364904050079","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.136.6942","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.136.6942","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.mech.kuleuven.be/robotics/resources/docs/acm/taskplanning.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.926.5328","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.926.5328","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ijr.sagepub.com/content/24/1/61.full.pdf","raw_type":"text"},{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/157328","is_oa":false,"landing_page_url":"https://lirias.kuleuven.be/bitstream/123456789/157328/1/04pp033.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Robotics Research, vol. 24 (1), (61-81)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322308","display_name":"KU Leuven","ror":"https://ror.org/05f950310"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":72,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W112254213","https://openalex.org/W180325379","https://openalex.org/W185885492","https://openalex.org/W304861154","https://openalex.org/W581291611","https://openalex.org/W1479979375","https://openalex.org/W1500551892","https://openalex.org/W1527083114","https://openalex.org/W1539769924","https://openalex.org/W1581862638","https://openalex.org/W1637035937","https://openalex.org/W1792515643","https://openalex.org/W1853503190","https://openalex.org/W1865458180","https://openalex.org/W1969104618","https://openalex.org/W1990451985","https://openalex.org/W1995875735","https://openalex.org/W1998011147","https://openalex.org/W2025998811","https://openalex.org/W2034469604","https://openalex.org/W2053565514","https://openalex.org/W2055339153","https://openalex.org/W2057216152","https://openalex.org/W2062562704","https://openalex.org/W2065087844","https://openalex.org/W2068485731","https://openalex.org/W2084840427","https://openalex.org/W2096363905","https://openalex.org/W2099111195","https://openalex.org/W2099574271","https://openalex.org/W2104130465","https://openalex.org/W2105132424","https://openalex.org/W2106830746","https://openalex.org/W2107479439","https://openalex.org/W2115243734","https://openalex.org/W2118175378","https://openalex.org/W2119000194","https://openalex.org/W2125650116","https://openalex.org/W2140876521","https://openalex.org/W2141825555","https://openalex.org/W2144578442","https://openalex.org/W2145504714","https://openalex.org/W2147080883","https://openalex.org/W2150500908","https://openalex.org/W2151505977","https://openalex.org/W2152351276","https://openalex.org/W2152823672","https://openalex.org/W2153759243","https://openalex.org/W2154566144","https://openalex.org/W2156195892","https://openalex.org/W2167291723","https://openalex.org/W2170220350","https://openalex.org/W2181175313","https://openalex.org/W2319903578","https://openalex.org/W2331182131","https://openalex.org/W2520811988","https://openalex.org/W2524449277","https://openalex.org/W2916805411","https://openalex.org/W2993383518","https://openalex.org/W3013347551","https://openalex.org/W3029645440","https://openalex.org/W4229558925","https://openalex.org/W4232171978","https://openalex.org/W4242811155","https://openalex.org/W4293775970","https://openalex.org/W6610783275","https://openalex.org/W6632354077","https://openalex.org/W6674851815","https://openalex.org/W6678987222","https://openalex.org/W6681490538","https://openalex.org/W6845297278"],"related_works":["https://openalex.org/W1994680671","https://openalex.org/W2280422768","https://openalex.org/W3143197806","https://openalex.org/W4252555497","https://openalex.org/W2000283393","https://openalex.org/W2002320543","https://openalex.org/W2061947244","https://openalex.org/W2150232912","https://openalex.org/W3121175838","https://openalex.org/W3016293053"],"abstract_inverted_index":{"Previous":[0],"research":[1,142],"has":[2],"shown":[3],"that":[4],"the":[5,17,28,32,42,63,72,92,103,119,126,131,151,170,173,182,187,194,200,209],"execution":[6,105],"of":[7,16,27,65,74,165,172,211],"contact":[8,19,43],"tasks":[9],"under":[10],"uncertainty":[11],"benefits":[12],"from":[13],"on-line":[14,218],"estimation":[15],"geometrical":[18,55,77,127],"parameters,":[20],"such":[21,101],"as":[22,102],"positions,":[23],"orientations":[24],"and":[25,35,115,155,197,207,215],"dimensions":[26],"contacting":[29],"objects.":[30],"However,":[31],"constant":[33],"translational":[34],"rotational":[36],"velocities":[37],"commonly":[38],"used":[39],"to":[40,52,86,90,122,130,180],"trigger":[41],"formation":[44],"(CF)":[45],"transitions":[46],"are":[47,168],"often":[48],"not":[49],"sufficiently":[50],"exciting":[51],"estimate":[53],"all":[54],"parameters.":[56,78],"In":[57],"this":[58,145,166],"paper,":[59],"we":[60],"focus":[61],"on":[62],"calculation":[64],"a":[66,140,191],"fine-motion":[67],"task":[68,93,120,188],"plan,":[69],"which":[70,107,124,177],"improves":[71],"observation":[73],"inaccurately":[75],"known":[76],"This":[79],"is":[80,89,108,139],"called":[81],"active":[82,87,152,183,201],"sensing.":[83],"Our":[84],"approach":[85],"sensing":[88,135,153,184,202],"optimize":[91],"plan":[94,189],"(i)":[95,169],"by":[96,117],"minimizing":[97],"an":[98,109],"objective":[99],"function,":[100],"expected":[104],"time,":[106],"important":[110],"criterion":[111],"in":[112,204],"industrial":[113],"applications,":[114],"(ii)":[116,208],"constraining":[118],"plans":[121,123],"observe":[125],"parameter":[128,175],"estimates":[129],"required":[132],"accuracy.":[133],"Active":[134],"for":[136,186,193,199],"compliant":[137],"motion":[138],"new":[141],"area.":[143],"Hence,":[144],"paper":[146,167],"primarily":[147],"aims":[148],"at":[149],"formulating":[150],"problem":[154],"decoupling":[156],"it":[157],"into":[158,190],"smaller":[159],"optimization":[160],"problems.":[161],"The":[162],"main":[163],"contributions":[164],"definition":[171],"CF-observable":[174],"space,":[176],"allows":[178],"us":[179],"decouple":[181],"requirement":[185,192],"CF":[195],"sequence":[196],"requirements":[198],"motions":[203],"each":[205],"CF,":[206],"description":[210],"practical":[212],"(suboptimal)":[213],"solutions":[214],"heuristics,":[216],"making":[217],"replanning":[219],"feasible.":[220]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
