{"id":"https://openalex.org/W1932678492","doi":"https://doi.org/10.13053/cys-19-1-1910","title":"Saving Time for Object Finding with a Mobile Manipulator Robot in 3-D Environment","display_name":"Saving Time for Object Finding with a Mobile Manipulator Robot in 3-D Environment","publication_year":2015,"publication_date":"2015-03-31","ids":{"openalex":"https://openalex.org/W1932678492","doi":"https://doi.org/10.13053/cys-19-1-1910","mag":"1932678492"},"language":"es","primary_location":{"id":"doi:10.13053/cys-19-1-1910","is_oa":true,"landing_page_url":"https://doi.org/10.13053/cys-19-1-1910","pdf_url":"https://cys.cic.ipn.mx/ojs/index.php/CyS/article/view/1910/2020","source":{"id":"https://openalex.org/S61446325","display_name":"Computaci\u00f3n y Sistemas","issn_l":"1405-5546","issn":["1405-5546","2007-9737"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319599","host_organization_name":"National Polytechnic Institute","host_organization_lineage":["https://openalex.org/P4310319599"],"host_organization_lineage_names":["National Polytechnic Institute"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computaci\u00f3n y Sistemas","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://cys.cic.ipn.mx/ojs/index.php/CyS/article/view/1910/2020","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036871524","display_name":"Judith Espinoza","orcid":null},"institutions":[{"id":"https://openalex.org/I4210118279","display_name":"Mathematics Research Center","ror":null,"country_code":"MX","type":null,"lineage":["https://openalex.org/I4210118279"]},{"id":"https://openalex.org/I124618812","display_name":"Mathematics Research Center","ror":"https://ror.org/02nhmp827","country_code":"MX","type":"facility","lineage":["https://openalex.org/I124618812"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Judith Espinoza","raw_affiliation_strings":["Centro de Investigaci n en Matem ticas, CIMAT, Guanajuato, M xico","Centro de Investigaci\u00f3n en Matem\u00e1ticas, A.C., Guanajuato, Mexico"],"affiliations":[{"raw_affiliation_string":"Centro de Investigaci n en Matem ticas, CIMAT, Guanajuato, M xico","institution_ids":["https://openalex.org/I4210118279"]},{"raw_affiliation_string":"Centro de Investigaci\u00f3n en Matem\u00e1ticas, A.C., Guanajuato, Mexico","institution_ids":["https://openalex.org/I124618812"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001442360","display_name":"Rafael Murrieta-Cid","orcid":"https://orcid.org/0000-0002-8334-5287"},"institutions":[{"id":"https://openalex.org/I4210118279","display_name":"Mathematics Research Center","ror":null,"country_code":"MX","type":null,"lineage":["https://openalex.org/I4210118279"]},{"id":"https://openalex.org/I124618812","display_name":"Mathematics Research Center","ror":"https://ror.org/02nhmp827","country_code":"MX","type":"facility","lineage":["https://openalex.org/I124618812"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Rafael Murrieta-Cid","raw_affiliation_strings":["Centro de Investigaci n en Matem ticas, CIMAT, Guanajuato, M xico","Centro de Investigaci\u00f3n en Matem\u00e1ticas, A.C., Guanajuato, Mexico"],"affiliations":[{"raw_affiliation_string":"Centro de Investigaci n en Matem ticas, CIMAT, Guanajuato, M xico","institution_ids":["https://openalex.org/I4210118279"]},{"raw_affiliation_string":"Centro de Investigaci\u00f3n en Matem\u00e1ticas, A.C., Guanajuato, Mexico","institution_ids":["https://openalex.org/I124618812"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5036871524"],"corresponding_institution_ids":["https://openalex.org/I124618812","https://openalex.org/I4210118279"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.05482128,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"19","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9969000220298767,"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/object","display_name":"Object (grammar)","score":0.6803112030029297},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6791907548904419},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6739580631256104},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6653202772140503},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5788060426712036},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5725498199462891},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4941859543323517},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4926493763923645},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.47863784432411194},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.466613233089447},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4351060390472412},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3597381114959717},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16374343633651733},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.08728957176208496},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.05545106530189514}],"concepts":[{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6803112030029297},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6791907548904419},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6739580631256104},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6653202772140503},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5788060426712036},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5725498199462891},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4941859543323517},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4926493763923645},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.47863784432411194},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.466613233089447},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4351060390472412},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3597381114959717},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16374343633651733},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.08728957176208496},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.05545106530189514},{"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.13053/cys-19-1-1910","is_oa":true,"landing_page_url":"https://doi.org/10.13053/cys-19-1-1910","pdf_url":"https://cys.cic.ipn.mx/ojs/index.php/CyS/article/view/1910/2020","source":{"id":"https://openalex.org/S61446325","display_name":"Computaci\u00f3n y Sistemas","issn_l":"1405-5546","issn":["1405-5546","2007-9737"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319599","host_organization_name":"National Polytechnic Institute","host_organization_lineage":["https://openalex.org/P4310319599"],"host_organization_lineage_names":["National Polytechnic Institute"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computaci\u00f3n y Sistemas","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.715.3558","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.715.3558","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cimat.mx/%7Emurrieta/Papersonline/EsMu_CyS15.pdf","raw_type":"text"},{"id":"pmh:oai:redalyc.org:61536854004","is_oa":false,"landing_page_url":"https://www.redalyc.org/articulo.oa?id=61536854004","pdf_url":null,"source":{"id":"https://openalex.org/S4377196100","display_name":"Redalyc (Universidad Aut\u00f3noma del Estado de M\u00e9xico)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I179647637","host_organization_name":"Universidad Aut\u00f3noma del Estado de M\u00e9xico","host_organization_lineage":["https://openalex.org/I179647637"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Computaci\u00f3n y Sistemas (M\u00e9xico) Num.1 Vol.19","raw_type":"art\u00edculo cient\u00edfico"}],"best_oa_location":{"id":"doi:10.13053/cys-19-1-1910","is_oa":true,"landing_page_url":"https://doi.org/10.13053/cys-19-1-1910","pdf_url":"https://cys.cic.ipn.mx/ojs/index.php/CyS/article/view/1910/2020","source":{"id":"https://openalex.org/S61446325","display_name":"Computaci\u00f3n y Sistemas","issn_l":"1405-5546","issn":["1405-5546","2007-9737"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319599","host_organization_name":"National Polytechnic Institute","host_organization_lineage":["https://openalex.org/P4310319599"],"host_organization_lineage_names":["National Polytechnic Institute"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Computaci\u00f3n y Sistemas","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8399999737739563,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1932678492.pdf","grobid_xml":"https://content.openalex.org/works/W1932678492.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1491615684","https://openalex.org/W1536373029","https://openalex.org/W1599753383","https://openalex.org/W1969485110","https://openalex.org/W1971239347","https://openalex.org/W2000359213","https://openalex.org/W2017136493","https://openalex.org/W2020643009","https://openalex.org/W2021118704","https://openalex.org/W2023901992","https://openalex.org/W2054566447","https://openalex.org/W2094658339","https://openalex.org/W2117571644","https://openalex.org/W2125503755","https://openalex.org/W2128990851","https://openalex.org/W2138022941","https://openalex.org/W2148534768","https://openalex.org/W2149536402","https://openalex.org/W2164483852","https://openalex.org/W2165980570","https://openalex.org/W2171266831","https://openalex.org/W2611243847","https://openalex.org/W2986240932","https://openalex.org/W3148269075","https://openalex.org/W4249315263","https://openalex.org/W4366956087","https://openalex.org/W6604114042","https://openalex.org/W6628159888","https://openalex.org/W6637922210","https://openalex.org/W6654465969","https://openalex.org/W6664379458","https://openalex.org/W6677217648","https://openalex.org/W6684311270"],"related_works":["https://openalex.org/W2072180474","https://openalex.org/W2788853759","https://openalex.org/W1960052459","https://openalex.org/W8302103","https://openalex.org/W2163498939","https://openalex.org/W2375707231","https://openalex.org/W2115621646","https://openalex.org/W3171631314","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"address":[4],"the":[5,8,27,32,35,82,92],"problem":[6],"ofreducing":[7],"time":[9,17,29],"for":[10,81],"finding":[11],"an":[12,51],"object.":[13],"We":[14,63,95],"consider":[15],"boththe":[16],"taken":[18],"by":[19],"our":[20,99],"software":[21],"to":[22,30,69,86],"generate":[23],"a":[24,43],"search":[25],"planand":[26],"expected":[28],"find":[31],"object":[33,39],"when":[34],"planis":[36],"executed.":[37],"The":[38,53],"is":[40,55],"sought":[41],"with":[42,50],"7":[44],"degree":[45],"offreedom":[46],"mobile":[47],"manipulator":[48],"robot":[49],"\u201ceye-in-hand\u201dsensor.":[52],"sensor":[54],"limited":[56],"in":[57,104],"both":[58],"range":[59],"and":[60,84],"fieldof":[61],"view.":[62],"propose":[64],"two":[65],"main":[66],"strategies:":[67],"1)":[68],"coordinatethe":[70],"motion":[71],"of":[72,75],"robot\u2019s":[73],"degrees":[74],"freedom":[76],"optimizingonly":[77],"those":[78],"most":[79],"relevant":[80],"task,":[83],"2)":[85],"repaira":[87],"previously":[88],"computed":[89],"plan":[90],"whenever":[91],"environmentchanges":[93],"locally.":[94],"have":[96],"implemented":[97],"all":[98],"algorithmsand":[100],"present":[101],"simulation":[102],"results":[103],"realistic":[105],"environments.":[106]},"counts_by_year":[{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}