{"id":"https://openalex.org/W2116341587","doi":"https://doi.org/10.1177/0278364910396389","title":"Task Space Regions","display_name":"Task Space Regions","publication_year":2011,"publication_date":"2011-03-15","ids":{"openalex":"https://openalex.org/W2116341587","doi":"https://doi.org/10.1177/0278364910396389","mag":"2116341587"},"language":"en","primary_location":{"id":"doi:10.1177/0278364910396389","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910396389","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/A5083082888","display_name":"Dmitry Berenson","orcid":"https://orcid.org/0000-0002-9712-109X"},"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":true,"raw_author_name":"Dmitry Berenson","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, USA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddhartha Srinivasa","raw_affiliation_strings":["Intel Labs, Pittsburgh, USA","Intel Labs, Pittsburgh, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Intel Labs, Pittsburgh, USA","institution_ids":["https://openalex.org/I1343180700"]},{"raw_affiliation_string":"Intel Labs, Pittsburgh, USA#TAB#","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021782513","display_name":"James Kuffner","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":"James Kuffner","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, USA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5083082888"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":16.728,"has_fulltext":false,"cited_by_count":370,"citation_normalized_percentile":{"value":0.99408394,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"30","issue":"12","first_page":"1435","last_page":"1460"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.9980999827384949,"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/probabilistic-logic","display_name":"Probabilistic logic","score":0.6276096105575562},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5870211720466614},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.562586784362793},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.542444109916687},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5213664770126343},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47761934995651245},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4736308455467224},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3324574828147888},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21461200714111328},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10544148087501526}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6276096105575562},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5870211720466614},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.562586784362793},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.542444109916687},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5213664770126343},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47761934995651245},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4736308455467224},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3324574828147888},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21461200714111328},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10544148087501526},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364910396389","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910396389","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","score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1554056522","https://openalex.org/W1939926247","https://openalex.org/W1965244358","https://openalex.org/W1971853511","https://openalex.org/W1989604857","https://openalex.org/W1997650413","https://openalex.org/W2004609114","https://openalex.org/W2021927715","https://openalex.org/W2068761489","https://openalex.org/W2075753041","https://openalex.org/W2102128251","https://openalex.org/W2105293428","https://openalex.org/W2110333200","https://openalex.org/W2110612452","https://openalex.org/W2112474089","https://openalex.org/W2112624395","https://openalex.org/W2116039916","https://openalex.org/W2118486992","https://openalex.org/W2118897212","https://openalex.org/W2123967128","https://openalex.org/W2126386176","https://openalex.org/W2128990851","https://openalex.org/W2134447392","https://openalex.org/W2135228018","https://openalex.org/W2135677376","https://openalex.org/W2137496616","https://openalex.org/W2140717964","https://openalex.org/W2141664020","https://openalex.org/W2142450096","https://openalex.org/W2144908914","https://openalex.org/W2146447720","https://openalex.org/W2152828142","https://openalex.org/W2155134292","https://openalex.org/W2163426622","https://openalex.org/W2341171179","https://openalex.org/W2403902171","https://openalex.org/W2540027626","https://openalex.org/W2611243847","https://openalex.org/W2798257756","https://openalex.org/W3146198107","https://openalex.org/W3146431201","https://openalex.org/W3149322120","https://openalex.org/W4205362845","https://openalex.org/W4247782262"],"related_works":["https://openalex.org/W2943623134","https://openalex.org/W2494523064","https://openalex.org/W2215759665","https://openalex.org/W2960358116","https://openalex.org/W2030292806","https://openalex.org/W3041172967","https://openalex.org/W1497573972","https://openalex.org/W1846253165","https://openalex.org/W2071659383","https://openalex.org/W2124122503"],"abstract_inverted_index":{"We":[0,158],"present":[1],"a":[2,36,92,109,148,160],"manipulation":[3,51],"planning":[4,38,52,171],"framework":[5,26,68],"that":[6,115,150,179],"allows":[7],"robots":[8],"to":[9,44,82,91,136,153],"plan":[10,154],"in":[11],"the":[12,55,89,181,186],"presence":[13],"of":[14,66,112,163,185],"constraints":[15,71,114],"on":[16],"end-effector":[17,140],"pose,":[18],"as":[19,21,127],"well":[20],"other":[22],"common":[23],"constraints.":[24,142],"The":[25,64],"has":[27],"three":[28],"main":[29],"components:":[30],"constraint":[31],"representation,":[32],"constraint-satisfaction":[33],"strategies,":[34],"and":[35,48,88,173,183],"general":[37,110],"algorithm.":[39],"These":[40],"components":[41],"come":[42],"together":[43,135],"create":[45,137],"an":[46],"efficient":[47],"probabilistically":[49],"complete":[50],"algorithm":[53],"called":[54],"Constrained":[56],"BiDirectional":[57],"Rapidly-exploring":[58],"Random":[59],"Tree":[60],"(RRT)":[61],"\u2013":[62],"CBiRRT2.":[63],"underpinning":[65],"our":[67,73,164,170],"for":[69,102,169],"pose":[70,113,141,156],"is":[72],"Task":[74],"Space":[75],"Regions":[76],"(TSRs)":[77],"representation.":[78],"TSRs":[79,107,131,143],"are":[80,108],"intuitive":[81],"specify,":[83],"can":[84,94,116,132,144],"be":[85,95,133,146],"efficiently":[86],"sampled,":[87],"distance":[90],"TSR":[93,187],"evaluated":[96],"very":[97],"quickly,":[98],"making":[99],"them":[100],"ideal":[101],"sampling-based":[103],"planning.":[104],"Most":[105],"importantly,":[106],"representation":[111],"fully":[117],"describe":[118,174],"many":[119],"practical":[120],"tasks.":[121],"For":[122],"more":[123,138],"complex":[124,139],"tasks,":[125],"such":[126],"manipulating":[128],"articulated":[129],"objects,":[130],"chained":[134],"also":[145],"intersected,":[147],"property":[149],"we":[151],"use":[152],"with":[155],"uncertainty.":[157],"provide":[159],"detailed":[161],"description":[162],"framework,":[165],"prove":[166],"probabilistic":[167],"completeness":[168],"approach,":[172],"several":[175],"real-world":[176],"example":[177],"problems":[178],"illustrate":[180],"efficiency":[182],"versatility":[184],"framework.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":22},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":35},{"year":2020,"cited_by_count":35},{"year":2019,"cited_by_count":23},{"year":2018,"cited_by_count":34},{"year":2017,"cited_by_count":33},{"year":2016,"cited_by_count":32},{"year":2015,"cited_by_count":28},{"year":2014,"cited_by_count":31},{"year":2013,"cited_by_count":20},{"year":2012,"cited_by_count":10}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2016-06-24T00:00:00"}