{"id":"https://openalex.org/W2041753526","doi":"https://doi.org/10.1177/0278364910386985","title":"Randomized multi-modal motion planning for a humanoid robot manipulation task","display_name":"Randomized multi-modal motion planning for a humanoid robot manipulation task","publication_year":2010,"publication_date":"2010-12-07","ids":{"openalex":"https://openalex.org/W2041753526","doi":"https://doi.org/10.1177/0278364910386985","mag":"2041753526"},"language":"en","primary_location":{"id":"doi:10.1177/0278364910386985","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910386985","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/A5027878263","display_name":"Kris Hauser","orcid":"https://orcid.org/0000-0002-5207-1527"},"institutions":[{"id":"https://openalex.org/I4210119109","display_name":"Indiana University Bloomington","ror":"https://ror.org/02k40bc56","country_code":"US","type":"education","lineage":["https://openalex.org/I4210119109","https://openalex.org/I592451"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kris Hauser","raw_affiliation_strings":["Indiana University, Bloomington, IN, USA,"],"affiliations":[{"raw_affiliation_string":"Indiana University, Bloomington, IN, USA,","institution_ids":["https://openalex.org/I4210119109"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086505668","display_name":"Victor Ng\u2010Thow\u2010Hing","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]},{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"Victor Ng-Thow-Hing","raw_affiliation_strings":["Honda Research Institute, Mountain View, CA, USA","[Honda Research Institute, Mountain View, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Honda Research Institute, Mountain View, CA, USA","institution_ids":["https://openalex.org/I4210145184"]},{"raw_affiliation_string":"[Honda Research Institute, Mountain View, CA, USA]","institution_ids":["https://openalex.org/I1283473643"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5027878263"],"corresponding_institution_ids":["https://openalex.org/I4210119109"],"apc_list":null,"apc_paid":null,"fwci":6.1417,"has_fulltext":false,"cited_by_count":145,"citation_normalized_percentile":{"value":0.96806922,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"30","issue":"6","first_page":"678","last_page":"698"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9977999925613403,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7249383330345154},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6736617088317871},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5821112990379333},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5609176754951477},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.5526203513145447},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5101361870765686},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4805741310119629},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4269696772098541},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4247472882270813},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4153038263320923},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37114042043685913},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23936602473258972},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13312405347824097}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7249383330345154},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6736617088317871},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5821112990379333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5609176754951477},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.5526203513145447},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5101361870765686},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4805741310119629},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4269696772098541},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4247472882270813},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4153038263320923},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37114042043685913},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23936602473258972},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13312405347824097},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364910386985","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910386985","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:10.1.1.225.6196","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.225.6196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.indiana.edu/%7Ehauserk/papers/ijrr2011-MultiModal-preprint.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W77797718","https://openalex.org/W85847141","https://openalex.org/W88038190","https://openalex.org/W1424654272","https://openalex.org/W1489501223","https://openalex.org/W1491299332","https://openalex.org/W1593316755","https://openalex.org/W1601397300","https://openalex.org/W1606563312","https://openalex.org/W1964676264","https://openalex.org/W1969196471","https://openalex.org/W1993282304","https://openalex.org/W2000359213","https://openalex.org/W2006010000","https://openalex.org/W2021118704","https://openalex.org/W2036016432","https://openalex.org/W2044995998","https://openalex.org/W2050708324","https://openalex.org/W2075577325","https://openalex.org/W2090963365","https://openalex.org/W2098030884","https://openalex.org/W2103012681","https://openalex.org/W2103524001","https://openalex.org/W2112808334","https://openalex.org/W2114171536","https://openalex.org/W2115045036","https://openalex.org/W2121318827","https://openalex.org/W2127895608","https://openalex.org/W2128561641","https://openalex.org/W2134072104","https://openalex.org/W2137496616","https://openalex.org/W2139286783","https://openalex.org/W2142644931","https://openalex.org/W2157835908","https://openalex.org/W2158688262","https://openalex.org/W2163171217","https://openalex.org/W2163426622","https://openalex.org/W2167348159","https://openalex.org/W2280761241","https://openalex.org/W2402652894","https://openalex.org/W2403902171","https://openalex.org/W2438681800","https://openalex.org/W2499036319","https://openalex.org/W2611243847","https://openalex.org/W2729161127","https://openalex.org/W2795343553","https://openalex.org/W4206357214","https://openalex.org/W4210700398","https://openalex.org/W4233413206"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2543019745","https://openalex.org/W2295425790","https://openalex.org/W2632090827","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W1593091151","https://openalex.org/W2067790096"],"abstract_inverted_index":{"Robots":[0],"that":[1,12,85,98,120,179,184],"perform":[2],"complex":[3],"manipulation":[4,133],"tasks":[5],"must":[6],"be":[7],"able":[8],"to":[9,131,145,149,162],"generate":[10],"strategies":[11],"make":[13],"and":[14,44,50,70,103,105,157,167,173],"break":[15],"contact":[16,42],"with":[17,27],"the":[18,34,62,66,114,118,129,136,141,158,175],"object.":[19],"This":[20],"requires":[21],"reasoning":[22],"in":[23,32,61,171,190],"a":[24,28,38,45,73,80,132,150,154,193],"motion":[25,59],"space":[26],"particular":[29],"multi-modal":[30,58,115],"structure,":[31],"which":[33],"state":[35,67],"contains":[36],"both":[37],"discrete":[39],"mode":[40,88],"(the":[41,48],"state)":[43],"continuous":[46,74],"configuration":[47],"robot":[49,142,159,177],"object":[51,148],"poses).":[52],"In":[53],"this":[54],"paper":[55],"we":[56],"address":[57],"planning":[60],"common":[63],"setting":[64],"where":[65,140],"is":[68,97,100,143,160],"high-dimensional,":[69],"there":[71],"are":[72,121],"infinity":[75],"of":[76,113,117],"modes.":[77,169],"We":[78,127],"present":[79],"highly":[81],"general":[82],"algorithm,":[83],"Random-MMP,":[84],"repeatedly":[86],"attempts":[87],"switches":[89],"sampled":[90],"at":[91],"random.":[92],"A":[93],"major":[94],"theoretical":[95],"result":[96],"Random-MMP":[99,180],"formally":[101],"reliable":[102],"scalable,":[104],"its":[106],"running":[107],"time":[108],"depends":[109],"on":[110,125,135,153,174,192],"certain":[111],"properties":[112],"structure":[116],"problem":[119,182],"not":[122],"explicitly":[123],"dependent":[124],"dimensionality.":[126],"apply":[128],"planner":[130],"task":[134],"Honda":[137],"humanoid":[138],"robot,":[139],"asked":[144],"push":[146],"an":[147],"desired":[151],"location":[152],"cluttered":[155],"table,":[156],"restricted":[161],"switch":[163],"between":[164],"walking,":[165],"reaching,":[166],"pushing":[168],"Experiments":[170],"simulation":[172],"real":[176],"demonstrate":[178],"solves":[181],"instances":[183],"require":[185],"several":[186],"carefully":[187],"chosen":[188],"pushes":[189],"minutes":[191],"PC.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":13},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":13},{"year":2015,"cited_by_count":13},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":8}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}