{"id":"https://openalex.org/W6962963865","doi":"https://doi.org/10.17615/f07h-ew70","title":"Real-Time Robot Motion Planning Algorithms and Applications Under Uncertainty","display_name":"Real-Time Robot Motion Planning Algorithms and Applications Under Uncertainty","publication_year":2020,"publication_date":"2020-06-23","ids":{"openalex":"https://openalex.org/W6962963865","doi":"https://doi.org/10.17615/f07h-ew70"},"language":"en","primary_location":{"id":"doi:10.17615/f07h-ew70","is_oa":true,"landing_page_url":"https://doi.org/10.17615/f07h-ew70","pdf_url":null,"source":{"id":"https://openalex.org/S7407051488","display_name":"UNC Libraries","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"thesis"},"type":"article","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.17615/f07h-ew70","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Park, Jaesung","orcid":null},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Park, Jaesung","raw_affiliation_strings":["University of North Carolina at Chapel Hill"],"affiliations":[{"raw_affiliation_string":"University of North Carolina at Chapel Hill","institution_ids":["https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114027177"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31073133,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.36250001192092896,"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":0.36250001192092896,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.1979999989271164,"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/T12290","display_name":"Human Motion and Animation","score":0.08739999681711197,"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":0.6973999738693237},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5468999743461609},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5322999954223633},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5192000269889832},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45980000495910645},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4438999891281128},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.423799991607666},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.41179999709129333},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4056999981403351}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6973999738693237},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6660000085830688},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5688999891281128},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5600000023841858},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5468999743461609},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5322999954223633},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5192000269889832},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4959999918937683},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45980000495910645},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4438999891281128},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.423799991607666},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.41179999709129333},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4056999981403351},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3671000003814697},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3601999878883362},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.3384999930858612},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.33719998598098755},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.28450000286102295},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28029999136924744},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.27799999713897705},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2745000123977661},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.26980000734329224},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.2678000032901764},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.26269999146461487},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2547999918460846},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.25429999828338623},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.25200000405311584},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.251800000667572}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.17615/f07h-ew70","is_oa":true,"landing_page_url":"https://doi.org/10.17615/f07h-ew70","pdf_url":null,"source":{"id":"https://openalex.org/S7407051488","display_name":"UNC Libraries","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"thesis"}],"best_oa_location":{"id":"doi:10.17615/f07h-ew70","is_oa":true,"landing_page_url":"https://doi.org/10.17615/f07h-ew70","pdf_url":null,"source":{"id":"https://openalex.org/S7407051488","display_name":"UNC Libraries","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"thesis"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4364526569843292}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robot":[0],"motion":[1,96,197,225,234,249,263,292],"planning":[2,97,157,198,264,293],"is":[3,26,169],"an":[4,148,260],"important":[5],"problem":[6],"for":[7,133,228,268,279],"real-world":[8,56,105,304],"robot":[9,95,237,262,291,299],"applications.":[10],"Recently,":[11],"the":[12,58,102,109,116,162,193,196,239,246,252,271,284],"separation":[13],"of":[14,74,78,83,112,118,123,144,195,254,286],"workspaces":[15],"between":[16,147],"humans":[17,42,54],"and":[18,24,81,93,115,120,135,150,207,224,232,244,275,290,303],"robots":[19,34,59,212],"has":[20],"been":[21],"gradually":[22],"fading,":[23],"there":[25],"strong":[27],"interest":[28],"in":[29,43,48,55,104,217,242,270,301],"developing":[30],"solutions":[31],"where":[32],"collaborative":[33,211],"(cobots)":[35],"can":[36],"interact":[37],"or":[38,47],"work":[39],"safely":[40],"with":[41,53,101,214,295],"a":[44,151,172,185,215,296],"shared":[45],"space":[46],"close":[49,218],"proximity.":[50],"When":[51],"working":[52,213],"environments,":[57],"need":[60],"to":[61,99,192],"plan":[62],"safe":[63,233],"motions":[64],"under":[65],"uncertainty":[66,117],"stemming":[67],"from":[68,188],"many":[69],"sources":[70],"such":[71],"as":[72],"noise":[73,111],"visual":[75,113,272],"sensors,":[76],"ambiguity":[77],"verbal":[79],"instruction,":[80],"variety":[82],"human":[84,216,222,240,248,255],"motions.":[85],"In":[86],"this":[87],"thesis,":[88],"we":[89,126,153,183,220],"propose":[90],"novel":[91,155],"optimization-based":[92],"learning-based":[94,277],"algorithms":[98,132,158,227,294],"deal":[100],"uncertainties":[103],"environments.":[106,305],"To":[107,175],"handle":[108],"input":[110],"cameras":[114],"shape":[119],"pose":[121],"estimation":[122],"surrounding":[124],"objects,":[125],"present":[127,154,184,221,259],"efficient":[128,229],"probabilistic":[129],"collision":[130,145,163,288],"detection":[131,289],"Gaussian":[134],"non-Gaussian":[136],"error":[137],"distributions.":[138],"By":[139],"efficiently":[140],"computing":[141],"upper":[142],"bounds":[143],"probability":[146,164],"object":[149],"robot,":[152],"trajectory":[156,167,280],"that":[159,161,266],"guarantee":[160],"at":[165],"any":[166],"point":[168],"less":[170],"than":[171],"user-specified":[173],"threshold.":[174],"enable":[176],"human-robot":[177],"interaction":[178],"using":[179],"natural":[180],"language":[181],"instructions,":[182],"mapping":[186,202],"function":[187,203],"grounded":[189],"linguistic":[190],"semantics":[191],"coefficients":[194],"optimization":[199],"problem.":[200],"The":[201,236],"considers":[204],"task":[205,230],"descriptions":[206],"motion-related":[208],"constraints.":[209],"For":[210],"proximity,":[219],"intention":[223],"prediction":[226],"ordering":[231],"planning.":[235,281],"observes":[238],"poses":[241],"real-time":[243],"predicts":[245],"future":[247],"based":[250],"on":[251],"history":[253],"poses.":[256],"We":[257,282],"also":[258],"occlusion-aware":[261],"algorithm":[265],"accounts":[267],"occlusion":[269],"sensor":[273],"data":[274],"uses":[276],"techniques":[278],"highlight":[283],"benefits":[285],"our":[287],"7-DOF":[297],"Fetch":[298],"arm":[300],"simulated":[302]},"counts_by_year":[],"updated_date":"2025-11-06T06:51:31.235846","created_date":"2025-10-10T00:00:00"}
