{"id":"https://openalex.org/W2140195175","doi":"https://doi.org/10.1177/027836499101000205","title":"Trajectory Planning of Robot Manipulators in Noisy Work Spaces Using Stochastic Automata","display_name":"Trajectory Planning of Robot Manipulators in Noisy Work Spaces Using Stochastic Automata","publication_year":1991,"publication_date":"1991-04-01","ids":{"openalex":"https://openalex.org/W2140195175","doi":"https://doi.org/10.1177/027836499101000205","mag":"2140195175"},"language":"en","primary_location":{"id":"doi:10.1177/027836499101000205","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499101000205","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/A5055634885","display_name":"B. John Oommen","orcid":"https://orcid.org/0000-0002-5105-1575"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"B. John Oommen","raw_affiliation_strings":["School of Computer Science Carleton University Ottawa, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science Carleton University Ottawa, Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103562246","display_name":"Nicte Andrade","orcid":null},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Nicte Andrade","raw_affiliation_strings":["School of Computer Science Carleton University Ottawa, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science Carleton University Ottawa, Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5104022657","display_name":"Satish Iyengar","orcid":null},"institutions":[{"id":"https://openalex.org/I121820613","display_name":"Louisiana State University","ror":"https://ror.org/05ect4e57","country_code":"US","type":"education","lineage":["https://openalex.org/I121820613"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Sitharam Iyengar","raw_affiliation_strings":["Department of Computer Science Louisiana State University Baton Rouge, Louisiana","Department of Computer Science, Louisiana State University, Baton Rouge, Louisiana#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science Louisiana State University Baton Rouge, Louisiana","institution_ids":["https://openalex.org/I121820613"]},{"raw_affiliation_string":"Department of Computer Science, Louisiana State University, Baton Rouge, Louisiana#TAB#","institution_ids":["https://openalex.org/I121820613"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5055634885"],"corresponding_institution_ids":["https://openalex.org/I67031392"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.26845426,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"2","first_page":"135","last_page":"148"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T12288","display_name":"Optimization and Search Problems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/automaton","display_name":"Automaton","score":0.6480603218078613},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6402209997177124},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6286678910255432},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6189860105514526},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6057138442993164},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.590191125869751},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5295544266700745},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5245673656463623},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.51416015625},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4882810115814209},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4460563659667969},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4286336898803711},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3388751149177551},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2676055133342743},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2040175497531891}],"concepts":[{"id":"https://openalex.org/C112505250","wikidata":"https://www.wikidata.org/wiki/Q787116","display_name":"Automaton","level":2,"score":0.6480603218078613},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6402209997177124},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6286678910255432},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6189860105514526},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6057138442993164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.590191125869751},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5295544266700745},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5245673656463623},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.51416015625},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4882810115814209},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4460563659667969},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4286336898803711},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3388751149177551},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2676055133342743},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2040175497531891},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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:10.1177/027836499101000205","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499101000205","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":"Peace, Justice and strong institutions","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"},{"id":"https://openalex.org/F4320338287","display_name":"Oak Ridge National Laboratory","ror":"https://ror.org/01qz5mb56"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W17285909","https://openalex.org/W83297763","https://openalex.org/W261809690","https://openalex.org/W1501378290","https://openalex.org/W1556795538","https://openalex.org/W1575017126","https://openalex.org/W1578826964","https://openalex.org/W1581527321","https://openalex.org/W1845027167","https://openalex.org/W1966594564","https://openalex.org/W1967960734","https://openalex.org/W1986682137","https://openalex.org/W1987610506","https://openalex.org/W1990718291","https://openalex.org/W2000284842","https://openalex.org/W2006883012","https://openalex.org/W2022020194","https://openalex.org/W2023413531","https://openalex.org/W2039427695","https://openalex.org/W2051560575","https://openalex.org/W2064018461","https://openalex.org/W2064939656","https://openalex.org/W2065283065","https://openalex.org/W2072664031","https://openalex.org/W2072839015","https://openalex.org/W2077091230","https://openalex.org/W2089070007","https://openalex.org/W2093525746","https://openalex.org/W2099034771","https://openalex.org/W2114231924","https://openalex.org/W2120512179","https://openalex.org/W2132560048","https://openalex.org/W2136719835","https://openalex.org/W2149895953","https://openalex.org/W2150478016","https://openalex.org/W2150500908","https://openalex.org/W2158832545","https://openalex.org/W2163178194","https://openalex.org/W2171194143","https://openalex.org/W2322524800","https://openalex.org/W4312309247","https://openalex.org/W4384447651"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2367567586","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W4235013387","https://openalex.org/W1996912299"],"abstract_inverted_index":{"We":[0,63],"consider":[1],"the":[2,18,70,79,94,109,120,127,130],"problem":[3],"of":[4,20,50,96,108,117,129],"a":[5,10,48,51,65,74],"robot":[6,15],"manipulator":[7],"operating":[8],"in":[9,123],"noisy":[11,115],"work":[12],"space.":[13],"The":[14,87],"is":[16,29,43,61,103],"assigned":[17],"task":[19],"moving":[21],"fromP":[22],"i":[23,28],"toP":[24],"f":[25,42,60,119],".":[26],"BecauseP":[27],"its":[30],"initial":[31],"position,":[32],"this":[33],"position":[34],"can":[35],"be":[36],"known":[37],"fairly":[38],"accurately.":[39],"However,":[40],"becauseP":[41],"usu":[44],"ally":[45],"obtained":[46],"as":[47],"result":[49],"sensing":[52],"operation,":[53],"possibly":[54],"vision":[55],"sensing,":[56],"we":[57,89],"assume":[58],"thatP":[59],"noisy.":[62],"propose":[64,90],"so":[66],"lution":[67],"to":[68,125],"achieve":[69],"motion":[71,128],"that":[72],"involves":[73],"new":[75],"learning":[76],"automaton,":[77],"called":[78],"Discretized":[80],"Linear":[81],"Reward-Penalty":[82],"(DL":[83],"RP":[84],")":[85],"automaton.":[86],"strategy":[88],"does":[91],"not":[92],"involve":[93],"computation":[95],"any":[97],"inverse":[98],"kinematics.":[99],"Alternatively,":[100],"an":[101],"automaton":[102],"positioned":[104],"at":[105],"each":[106],"joint":[107],"robot,":[110],"and":[111],"by":[112],"processing":[113],"repeated":[114],"observations":[116],"P":[118],"automata":[121],"operate":[122],"parallel":[124],"control":[126],"manipulator.":[131]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}