{"id":"https://openalex.org/W2972429674","doi":"https://doi.org/10.23919/acc.2019.8814699","title":"Vision-assisted Arm Motion Planning for Freeform 3D Printing","display_name":"Vision-assisted Arm Motion Planning for Freeform 3D Printing","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2972429674","doi":"https://doi.org/10.23919/acc.2019.8814699","mag":"2972429674"},"language":"en","primary_location":{"id":"doi:10.23919/acc.2019.8814699","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2019.8814699","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100708691","display_name":"Zhi Chen","orcid":"https://orcid.org/0000-0002-5159-1280"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhi Chen","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002745879","display_name":"Roberto Horowitz","orcid":"https://orcid.org/0000-0003-2807-0054"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roberto Horowitz","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.328,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.60657391,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"4204","last_page":"4209"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994000196456909,"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":0.9962999820709229,"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":0.993399977684021,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/3d-printing","display_name":"3D printing","score":0.7791521549224854},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6868374943733215},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6210027933120728},{"id":"https://openalex.org/keywords/fused-filament-fabrication","display_name":"Fused filament fabrication","score":0.605023980140686},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5932459831237793},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5638219714164734},{"id":"https://openalex.org/keywords/3d-printer","display_name":"3d printer","score":0.5287486910820007},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5229626297950745},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5191806554794312},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49812936782836914},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.49208778142929077},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4528931975364685},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44900330901145935},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.43552401661872864},{"id":"https://openalex.org/keywords/protein-filament","display_name":"Protein filament","score":0.41418737173080444},{"id":"https://openalex.org/keywords/inclined-plane","display_name":"Inclined plane","score":0.41061919927597046},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.27805212140083313},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2503358721733093},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.2272835671901703},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21207579970359802},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17554029822349548},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13861656188964844},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13855227828025818}],"concepts":[{"id":"https://openalex.org/C524769229","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3D printing","level":2,"score":0.7791521549224854},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6868374943733215},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6210027933120728},{"id":"https://openalex.org/C2777510241","wikidata":"https://www.wikidata.org/wiki/Q18349149","display_name":"Fused filament fabrication","level":3,"score":0.605023980140686},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5932459831237793},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5638219714164734},{"id":"https://openalex.org/C2984377249","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printer","level":2,"score":0.5287486910820007},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5229626297950745},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5191806554794312},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49812936782836914},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.49208778142929077},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4528931975364685},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44900330901145935},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.43552401661872864},{"id":"https://openalex.org/C14228908","wikidata":"https://www.wikidata.org/wiki/Q2920483","display_name":"Protein filament","level":2,"score":0.41418737173080444},{"id":"https://openalex.org/C111808769","wikidata":"https://www.wikidata.org/wiki/Q161462","display_name":"Inclined plane","level":2,"score":0.41061919927597046},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27805212140083313},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2503358721733093},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2272835671901703},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21207579970359802},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17554029822349548},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13861656188964844},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13855227828025818},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc.2019.8814699","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2019.8814699","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7400000095367432}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1771410628","https://openalex.org/W2015954192","https://openalex.org/W2067424579","https://openalex.org/W2104733512","https://openalex.org/W2115008305","https://openalex.org/W2117629901","https://openalex.org/W2145023731","https://openalex.org/W2145339207","https://openalex.org/W2156737235","https://openalex.org/W2163605009","https://openalex.org/W2165150801","https://openalex.org/W2173248099","https://openalex.org/W2774444928","https://openalex.org/W2962872206","https://openalex.org/W2964043796","https://openalex.org/W2964161785"],"related_works":["https://openalex.org/W2612816639","https://openalex.org/W2163170964","https://openalex.org/W3195226931","https://openalex.org/W3163235717","https://openalex.org/W2416401092","https://openalex.org/W3161686680","https://openalex.org/W3131012505","https://openalex.org/W2965868192","https://openalex.org/W3120410148","https://openalex.org/W4400908151"],"abstract_inverted_index":{"Rapid":[0],"freeform":[1],"3D":[2,10],"printing":[3,34,40,100],"of":[4,16,38,78,96],"heated":[5],"polymeric":[6],"materials":[7],"to":[8,66,92],"create":[9],"curves":[11],"in":[12,99,112],"aerial":[13],"space":[14],"instead":[15],"2D":[17],"layers":[18],"is":[19,44,64],"a":[20,82,101,107],"growing":[21],"research":[22],"area.":[23],"We":[24],"develop":[25],"an":[26,47],"arm":[27,58,72],"motion":[28],"planning":[29],"technique":[30,63,98],"that":[31,54,73],"can":[32,74],"increase":[33],"accuracy":[35],"without":[36],"loss":[37],"the":[39,68,71,76,85,94,113],"speed.":[41],"The":[42,61],"method":[43],"based":[45],"on":[46],"actor-critic":[48],"model-free":[49],"deep":[50],"reinforcement":[51],"learning":[52],"algorithm":[53],"operates":[55],"over":[56],"continuous":[57],"action":[59],"spaces.":[60],"proposed":[62],"able":[65],"find":[67],"trajectory":[69],"for":[70],"neutralize":[75],"effect":[77],"gravity":[79],"and":[80],"build":[81],"filament":[83,111],"with":[84],"desired":[86],"shape.":[87],"Experimental":[88],"results":[89],"are":[90],"presented":[91],"illustrate":[93],"effectiveness":[95],"this":[97],"straight":[102],"line":[103],"as":[104,106],"well":[105],"more":[108],"difficult":[109],"semicircle":[110],"vertical":[114],"plane.":[115]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
