{"id":"https://openalex.org/W2055339153","doi":"https://doi.org/10.1177/027836498900800503","title":"Planning Compliant Motion Strategies","display_name":"Planning Compliant Motion Strategies","publication_year":1989,"publication_date":"1989-10-01","ids":{"openalex":"https://openalex.org/W2055339153","doi":"https://doi.org/10.1177/027836498900800503","mag":"2055339153"},"language":"en","primary_location":{"id":"doi:10.1177/027836498900800503","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836498900800503","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/A5056205150","display_name":"Stephen J. Buckley","orcid":"https://orcid.org/0009-0001-1243-2201"},"institutions":[{"id":"https://openalex.org/I4210114115","display_name":"IBM Research - Thomas J. Watson Research Center","ror":"https://ror.org/0265w5591","country_code":"US","type":"facility","lineage":["https://openalex.org/I1341412227","https://openalex.org/I4210114115"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Stephen J. Buckley","raw_affiliation_strings":["IBM Thomas J. Watson Research Center Yorktown Heights, New York 10598","IBM Thomas J. Watson Research Center Yorktown Heights , New York, 10598"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IBM Thomas J. Watson Research Center Yorktown Heights, New York 10598","institution_ids":["https://openalex.org/I4210114115"]},{"raw_affiliation_string":"IBM Thomas J. Watson Research Center Yorktown Heights , New York, 10598","institution_ids":["https://openalex.org/I4210114115"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5056205150"],"corresponding_institution_ids":["https://openalex.org/I4210114115"],"apc_list":null,"apc_paid":null,"fwci":1.4834,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.82646213,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"8","issue":"5","first_page":"28","last_page":"44"},"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":0.9990000128746033,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9970999956130981,"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/robot","display_name":"Robot","score":0.7671157121658325},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7440147399902344},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.716781497001648},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6686825156211853},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6296164989471436},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5762138962745667},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5498133897781372},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.5371931195259094},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.505186140537262},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.5006849765777588},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4895123243331909},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4213109314441681},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3556387424468994},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3376935124397278},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13334903120994568},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11462336778640747}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7671157121658325},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7440147399902344},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.716781497001648},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6686825156211853},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6296164989471436},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5762138962745667},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5498133897781372},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5371931195259094},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.505186140537262},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.5006849765777588},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4895123243331909},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4213109314441681},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3556387424468994},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3376935124397278},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13334903120994568},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11462336778640747},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/027836498900800503","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836498900800503","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":[{"id":"https://metadata.un.org/sdg/11","score":0.7799999713897705,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309015","display_name":"Charles Stark Draper Laboratory","ror":"https://ror.org/04378d909"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W112254213","https://openalex.org/W588257714","https://openalex.org/W1489844845","https://openalex.org/W1539769924","https://openalex.org/W1551680166","https://openalex.org/W1559007363","https://openalex.org/W1574453250","https://openalex.org/W1579720496","https://openalex.org/W1602132814","https://openalex.org/W1612678469","https://openalex.org/W1969104618","https://openalex.org/W2008731016","https://openalex.org/W2024403195","https://openalex.org/W2033013465","https://openalex.org/W2034469604","https://openalex.org/W2036181244","https://openalex.org/W2050708324","https://openalex.org/W2057776994","https://openalex.org/W2067063617","https://openalex.org/W2098572589","https://openalex.org/W2101811212","https://openalex.org/W2113778071","https://openalex.org/W2115243734","https://openalex.org/W2119295207","https://openalex.org/W2133686946","https://openalex.org/W2141170102","https://openalex.org/W2141825555","https://openalex.org/W2143745968","https://openalex.org/W2150367199","https://openalex.org/W2150500908","https://openalex.org/W2153759243","https://openalex.org/W2163178194","https://openalex.org/W2170220350","https://openalex.org/W2332735982","https://openalex.org/W2499036319","https://openalex.org/W4205727720","https://openalex.org/W4230547894","https://openalex.org/W4302069889","https://openalex.org/W4365806376"],"related_works":["https://openalex.org/W2005695917","https://openalex.org/W2333571655","https://openalex.org/W2104320275","https://openalex.org/W3004930912","https://openalex.org/W2111158727","https://openalex.org/W1510039162","https://openalex.org/W2112736381","https://openalex.org/W2106317420","https://openalex.org/W2120794627","https://openalex.org/W2067790096"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,19,29,38,44,48,63,127,136],"planning":[4,54],"program":[5],"that":[6,109,143],"synthesizes":[7,106],"compliant":[8,107,122],"motion":[9],"strategies,":[10],"in":[11,15,24,89,98,147],"which":[12],"an":[13,25,148],"object":[14],"the":[16,35,41,53,59,77,81,90,95,132,144,155],"grasp":[17],"of":[18,40,71,80,94],"robot":[20,96,99,145],"slides":[21],"along":[22],"obstacles,":[23],"attempt":[26],"to":[27,34,62,112,135,153],"reach":[28],"goal":[30,49,137],"region.":[31,50],"The":[32,104],"input":[33],"planner":[36,105],"is":[37,85,129],"model":[39],"task":[42,60],"geometry,":[43],"start":[45,91,133],"region,":[46],"and":[47,74,97,101],"To":[51],"make":[52],"problem":[55],"tractable,":[56],"we":[57],"reduce":[58],"geometry":[61],"finite":[64],"state":[65,114,134],"space,":[66],"whose":[67],"states":[68],"are":[69,110,124],"collections":[70],"vertices,":[72],"edges,":[73],"faces":[75],"from":[76,131],"configuration":[78,93],"space":[79],"robot.":[82],"Strategy":[83],"synthesis":[84],"complicated":[86],"by":[87],"uncertainty":[88],"ing":[92],"sensing":[100],"con":[102],"trol.":[103],"motions":[108,123],"guaranteed":[111],"perform":[113],"transitions":[115],"despite":[116],"uncertainty.":[117],"Using":[118],"best":[119],"first":[120],"search,":[121],"synthesized":[125],"until":[126],"strategy":[128,140],"found":[130],"state.":[138],"A":[139],"may":[141],"require":[142],"stop":[146],"intermediate":[149],"state,":[150],"using":[151],"sensors":[152],"determine":[154],"next":[156],"commanded":[157],"motion.":[158]},"counts_by_year":[{"year":2017,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-05-03T06:03:33.228499","created_date":"2025-10-10T00:00:00"}
