{"id":"https://openalex.org/W4388466653","doi":"https://doi.org/10.3103/s0146411623050097","title":"Robot Arm Path Planning with Adaptive Obstacle Avoidance for Man\u2013Robot Collaboration","display_name":"Robot Arm Path Planning with Adaptive Obstacle Avoidance for Man\u2013Robot Collaboration","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4388466653","doi":"https://doi.org/10.3103/s0146411623050097"},"language":"en","primary_location":{"id":"doi:10.3103/s0146411623050097","is_oa":false,"landing_page_url":"https://doi.org/10.3103/s0146411623050097","pdf_url":null,"source":{"id":"https://openalex.org/S17203304","display_name":"Automatic Control and Computer Sciences","issn_l":"0146-4116","issn":["0146-4116","1558-108X"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320267","host_organization_name":"Pleiades Publishing","host_organization_lineage":["https://openalex.org/P4310320267","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Pleiades Publishing","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automatic Control and Computer Sciences","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/A5035708358","display_name":"Brijesh Patel","orcid":"https://orcid.org/0000-0003-2663-4063"},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Brijesh Patel","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University of Science and Technology, 10607, Taipei, Taiwan","Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, 10607, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114097840","display_name":"Yan Cen Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yan Cen Lin","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University of Science and Technology, 10607, Taipei, Taiwan","Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, 10607, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029458411","display_name":"Hao Jian Eugene Tong","orcid":null},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Hao Jian Eugene Tong","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University of Science and Technology, 10607, Taipei, Taiwan","Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, 10607, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020290986","display_name":"Chao-Lung Yang","orcid":"https://orcid.org/0000-0001-5585-0094"},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chao-Lung Yang","raw_affiliation_strings":["Department of Industrial Management, National Taiwan University of Science and Technology, 10607, Taipei, Taiwan","Department of Industrial Management, National Taiwan University of Science and Technology, Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Management, National Taiwan University of Science and Technology, 10607, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]},{"raw_affiliation_string":"Department of Industrial Management, National Taiwan University of Science and Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016895974","display_name":"Ching\u2010Yuan Chang","orcid":"https://orcid.org/0000-0003-4157-5292"},"institutions":[{"id":"https://openalex.org/I118292597","display_name":"National Taipei University of Technology","ror":"https://ror.org/00cn92c09","country_code":"TW","type":"education","lineage":["https://openalex.org/I118292597"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ching-Yuan Chang","raw_affiliation_strings":["Department of Mechanical Engineering, National Taipei University of Technology, 10608, Taipei, Taiwan","Department of Mechanical Engineering, National Taipei University of Technology, Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taipei University of Technology, 10608, Taipei, Taiwan","institution_ids":["https://openalex.org/I118292597"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taipei University of Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I118292597"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048585649","display_name":"Po Ting Lin","orcid":"https://orcid.org/0000-0001-5907-7828"},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Po Ting Lin","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University of Science and Technology, 10607, Taipei, Taiwan","Intelligent Manufacturing Innovation Center (IMIC), National Taiwan University of Science and Technology, 10607, Taipei, Taiwan","Intelligent Manufacturing Innovation Center (IMIC), National Taiwan University of Science and Technology, Taipei, Taiwan","Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, 10607, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]},{"raw_affiliation_string":"Intelligent Manufacturing Innovation Center (IMIC), National Taiwan University of Science and Technology, 10607, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]},{"raw_affiliation_string":"Intelligent Manufacturing Innovation Center (IMIC), National Taiwan University of Science and Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5048585649"],"corresponding_institution_ids":["https://openalex.org/I154864474"],"apc_list":null,"apc_paid":null,"fwci":0.6105,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.70343179,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"57","issue":"5","first_page":"423","last_page":"438"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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":0.9991999864578247,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9940999746322632,"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":0.9939000010490417,"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":0.8469573259353638},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7502539157867432},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7412884831428528},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5694252848625183},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5197493433952332},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5029816031455994},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49947094917297363},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4862436354160309},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.465621680021286},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.46232110261917114},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4483005404472351},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.392574667930603},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32175400853157043}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8469573259353638},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7502539157867432},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7412884831428528},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5694252848625183},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5197493433952332},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5029816031455994},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49947094917297363},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4862436354160309},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.465621680021286},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.46232110261917114},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4483005404472351},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.392574667930603},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32175400853157043},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3103/s0146411623050097","is_oa":false,"landing_page_url":"https://doi.org/10.3103/s0146411623050097","pdf_url":null,"source":{"id":"https://openalex.org/S17203304","display_name":"Automatic Control and Computer Sciences","issn_l":"0146-4116","issn":["0146-4116","1558-108X"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320267","host_organization_name":"Pleiades Publishing","host_organization_lineage":["https://openalex.org/P4310320267","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Pleiades Publishing","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automatic Control and Computer Sciences","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W61873113","https://openalex.org/W1976930960","https://openalex.org/W2128990851","https://openalex.org/W2137331970","https://openalex.org/W2141664020","https://openalex.org/W2294424735","https://openalex.org/W2312797433","https://openalex.org/W2510185399","https://openalex.org/W2767346351","https://openalex.org/W2784435047","https://openalex.org/W2899262372","https://openalex.org/W2954284176","https://openalex.org/W2963781481","https://openalex.org/W2964015378","https://openalex.org/W2964062083","https://openalex.org/W2964134613","https://openalex.org/W2980688553","https://openalex.org/W2993476843","https://openalex.org/W3008022121","https://openalex.org/W3019433526","https://openalex.org/W3049071323","https://openalex.org/W3049747018","https://openalex.org/W3092948749","https://openalex.org/W3093374227","https://openalex.org/W3102121895","https://openalex.org/W3206921000","https://openalex.org/W3209627429","https://openalex.org/W4206371120","https://openalex.org/W4287331155","https://openalex.org/W4290379497","https://openalex.org/W4293489810","https://openalex.org/W4323317309"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2917514722","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1561646347","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W2346323633","https://openalex.org/W1971413691"],"abstract_inverted_index":{"Robot":[0],"arms":[1],"have":[2],"been":[3],"widely":[4],"used":[5,111,122,143],"in":[6,55,134],"various":[7],"production":[8],"factories.":[9],"They":[10],"are":[11],"able":[12],"to":[13,33,64,85,90,112,123,144,151,170],"complete":[14,40],"desired":[15],"tasks,":[16],"such":[17],"as":[18,80,165],"picking":[19,58],"and":[20,59,116,131],"placing,":[21],"with":[22,45],"good":[23],"repeatability.":[24],"However,":[25,71],"robots":[26,82],"cannot":[27],"completely":[28],"replace":[29],"human":[30,52,76,114,130],"workers":[31,38,53,77],"due":[32],"many":[34],"different":[35],"reasons.":[36],"Human":[37],"can":[39],"delicate":[41],"tasks":[42],"more":[43],"effectively":[44],"their":[46],"skillful":[47],"hands.":[48],"Robots":[49],"could":[50,161],"be":[51,104,162],"helpers":[54],"terms":[56],"of":[57,74],"placing":[60],"items,":[61],"delivering":[62],"items":[63,67],"humans,":[65,69],"lifting":[66],"for":[68,94,172],"etc.":[70],"the":[72,81,117,125,129,132,135,166],"risk":[73],"harming":[75],"greatly":[78],"increases":[79],"get":[83],"closer":[84,169],"them.":[86],"Recently,":[87],"researchers":[88],"began":[89],"develop":[91],"advanced":[92],"technologies":[93],"human\u2013robot":[95],"collaboration.":[96],"In":[97],"this":[98],"paper,":[99],"a":[100,146,153],"novel":[101],"system":[102],"will":[103],"presented.":[105],"A":[106,139],"spatial-temporal":[107],"graph":[108],"network":[109],"was":[110,121,142],"identify":[113],"motions,":[115],"random":[118],"forest":[119],"model":[120],"evaluate":[124],"danger":[126],"factor":[127],"between":[128],"robot":[133,167],"robot\u2019s":[136,148],"moving":[137,149],"path.":[138],"Lagrangian":[140],"minimization":[141],"determine":[145],"new":[147],"trajectory":[150],"keep":[152],"safe":[154],"distance":[155,160],"from":[156],"humans.":[157],"The":[158],"safety":[159],"adaptively":[163],"shortened":[164],"moves":[168],"humans":[171],"specific":[173],"man\u2013robot":[174],"collaboration":[175],"missions.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-15T09:29:46.208133","created_date":"2025-10-10T00:00:00"}
