{"id":"https://openalex.org/W2024189025","doi":"https://doi.org/10.1177/0278364909348761","title":"Motion Generation in the MRROC++ Robot Programming Framework","display_name":"Motion Generation in the MRROC++ Robot Programming Framework","publication_year":2009,"publication_date":"2009-09-28","ids":{"openalex":"https://openalex.org/W2024189025","doi":"https://doi.org/10.1177/0278364909348761","mag":"2024189025"},"language":"en","primary_location":{"id":"doi:10.1177/0278364909348761","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364909348761","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/A5051540293","display_name":"Cezary Zieli\u0144ski","orcid":"https://orcid.org/0000-0001-7604-8834"},"institutions":[{"id":"https://openalex.org/I108403487","display_name":"Warsaw University of Technology","ror":"https://ror.org/00y0xnp53","country_code":"PL","type":"education","lineage":["https://openalex.org/I108403487"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Cezary Zieli\u00f1ski","raw_affiliation_strings":["Warsaw University of Technology, Warsaw, Poland,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Warsaw University of Technology, Warsaw, Poland,","institution_ids":["https://openalex.org/I108403487"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087355847","display_name":"Tomasz Winiarski","orcid":"https://orcid.org/0000-0002-9316-3284"},"institutions":[{"id":"https://openalex.org/I108403487","display_name":"Warsaw University of Technology","ror":"https://ror.org/00y0xnp53","country_code":"PL","type":"education","lineage":["https://openalex.org/I108403487"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Tomasz Winiarski","raw_affiliation_strings":["Warsaw University of Technology, Warsaw, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Warsaw University of Technology, Warsaw, Poland","institution_ids":["https://openalex.org/I108403487"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":17.7126,"has_fulltext":false,"cited_by_count":79,"citation_normalized_percentile":{"value":0.99130667,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"29","issue":"4","first_page":"386","last_page":"413"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9939000010490417,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9900000095367432,"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/computer-science","display_name":"Computer science","score":0.7201249599456787},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.584134042263031},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.501335859298706},{"id":"https://openalex.org/keywords/formal-specification","display_name":"Formal specification","score":0.500373125076294},{"id":"https://openalex.org/keywords/formal-methods","display_name":"Formal methods","score":0.45455658435821533},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34492921829223633}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7201249599456787},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.584134042263031},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.501335859298706},{"id":"https://openalex.org/C116253237","wikidata":"https://www.wikidata.org/wiki/Q1437424","display_name":"Formal specification","level":2,"score":0.500373125076294},{"id":"https://openalex.org/C75606506","wikidata":"https://www.wikidata.org/wiki/Q1049183","display_name":"Formal methods","level":2,"score":0.45455658435821533},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34492921829223633}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364909348761","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364909348761","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W1226208","https://openalex.org/W80860954","https://openalex.org/W103438708","https://openalex.org/W126991719","https://openalex.org/W162848914","https://openalex.org/W198376531","https://openalex.org/W421036450","https://openalex.org/W625090799","https://openalex.org/W820731227","https://openalex.org/W1547000697","https://openalex.org/W1547293905","https://openalex.org/W1552578721","https://openalex.org/W1555601014","https://openalex.org/W1564953378","https://openalex.org/W1595468958","https://openalex.org/W1858298306","https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W1986470261","https://openalex.org/W1989114680","https://openalex.org/W1992875516","https://openalex.org/W1993037120","https://openalex.org/W1994499094","https://openalex.org/W2011438161","https://openalex.org/W2025069114","https://openalex.org/W2025939589","https://openalex.org/W2036288719","https://openalex.org/W2062691475","https://openalex.org/W2066379939","https://openalex.org/W2089788585","https://openalex.org/W2090161303","https://openalex.org/W2100326905","https://openalex.org/W2105360813","https://openalex.org/W2107456227","https://openalex.org/W2110178871","https://openalex.org/W2112474089","https://openalex.org/W2116617226","https://openalex.org/W2119242513","https://openalex.org/W2122410182","https://openalex.org/W2126172323","https://openalex.org/W2130666261","https://openalex.org/W2148033465","https://openalex.org/W2148652095","https://openalex.org/W2149790773","https://openalex.org/W2159154059","https://openalex.org/W2166211466","https://openalex.org/W2339963894","https://openalex.org/W2411876638","https://openalex.org/W2488795536","https://openalex.org/W2491188924","https://openalex.org/W2497633426","https://openalex.org/W2517787242","https://openalex.org/W2611379781","https://openalex.org/W2623293810","https://openalex.org/W2623660146","https://openalex.org/W2816965004","https://openalex.org/W2908598901","https://openalex.org/W2913447261","https://openalex.org/W4205093675","https://openalex.org/W4232135260","https://openalex.org/W4232403616","https://openalex.org/W4245286259","https://openalex.org/W4365799809"],"related_works":["https://openalex.org/W2145025660","https://openalex.org/W2171674700","https://openalex.org/W2049993111","https://openalex.org/W1922520186","https://openalex.org/W1950421680","https://openalex.org/W2592399342","https://openalex.org/W1903167137","https://openalex.org/W2034589735","https://openalex.org/W1999356246","https://openalex.org/W2045204345"],"abstract_inverted_index":{"In":[0],"this":[1,96],"paper":[2],"we":[3],"present":[4],"a":[5,48,115,191],"formal":[6,99,139,172],"approach":[7,100],"to":[8,23,64,166],"robot":[9,26,80,85,109],"motion":[10,13,52],"specification.":[11],"This":[12,70,98],"specification":[14,71,147,173],"takes":[15],"into":[16,55],"account":[17,56],"three":[18],"elementary":[19],"behaviors":[20,46],"that":[21,136,169],"suffice":[22],"define":[24],"any":[25,57,59],"interaction":[27],"with":[28,127],"the":[29,38,62,77,104,107,128,132,137,145,167,170,185,198,201],"environment,":[30],"i.e.":[31],"free":[32],"motion,":[33],"exerting":[34],"generalized":[35],"forces":[36],"and":[37,61,82,131,153,157,197],"transition":[39],"between":[40,67,194],"both":[41,75,89,126],"of":[42,79,84,90,106,114,187,200],"these":[43],"behaviors.":[44],"These":[45,161],"provide":[47],"foundation":[49],"for":[50,76,103,184],"general":[51],"generation":[53],"taking":[54],"sensors,":[58],"effectors":[60],"capability":[63],"exchange":[65],"information":[66],"embodied":[68],"agents.":[69],"can":[72],"be":[73],"used":[74,102,119,180],"definition":[78,186,196],"tasks":[81],"implementation":[83,105,199],"control":[86,151,202],"software,":[87],"hence":[88],"those":[91],"aspects":[92],"are":[93,163],"presented":[94,129],"in":[95,181],"paper.":[97],"was":[101],"MRROC++":[108,133],"programming":[110,188],"framework.":[111],"Two-handed":[112],"manipulation":[113],"Rubik\u2019s":[116],"cube":[117],"is":[118,175],"as":[120],"an":[121],"exemplary":[122],"task.":[123],"Extensive":[124],"experimentation":[125],"formalism":[130],"framework":[134],"showed":[135],"imposed":[138],"rigor":[140],"eliminates":[141],"many":[142],"errors":[143],"at":[144],"software":[146,152],"phase,":[148],"produces":[149],"well-structured":[150],"significantly":[154],"speeds":[155],"up":[156],"simplifies":[158],"its":[159],"implementation.":[160],"advantages":[162],"mainly":[164],"due":[165],"fact":[168],"proposed":[171],"tool":[174],"derived":[176],"from":[177],"operational":[178],"semantics":[179],"computer":[182],"science":[183],"languages,":[189],"thus":[190],"close":[192],"relationship":[193],"abstract":[195],"system":[203],"resulted.":[204]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":11}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
