{"id":"https://openalex.org/W4281769258","doi":"https://doi.org/10.3233/jcm-226140","title":"Robot motion planning with orientational constraints based on offline sampling datasets","display_name":"Robot motion planning with orientational constraints based on offline sampling datasets","publication_year":2022,"publication_date":"2022-05-31","ids":{"openalex":"https://openalex.org/W4281769258","doi":"https://doi.org/10.3233/jcm-226140"},"language":"en","primary_location":{"id":"doi:10.3233/jcm-226140","is_oa":false,"landing_page_url":"https://doi.org/10.3233/jcm-226140","pdf_url":null,"source":{"id":"https://openalex.org/S2765058733","display_name":"Journal of Computational Methods in Sciences and Engineering","issn_l":"1472-7978","issn":["1472-7978","1875-8983"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computational Methods in Sciences and Engineering","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/A5103213320","display_name":"Qinglei Zhang","orcid":"https://orcid.org/0000-0003-0797-7423"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinglei Zhang","raw_affiliation_strings":["Shanghai Maritime University","China (Shanghai) Free Trade Zone Supply Chain Research Institute, Shanghai Maritime University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Maritime University","institution_ids":["https://openalex.org/I96733725"]},{"raw_affiliation_string":"China (Shanghai) Free Trade Zone Supply Chain Research Institute, Shanghai Maritime University, Shanghai, China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031636308","display_name":"Zhangpeng Wang","orcid":"https://orcid.org/0000-0002-5970-792X"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhangpeng Wang","raw_affiliation_strings":["Shanghai Maritime University","Logistics Engineering College, Shanghai Maritime University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Maritime University","institution_ids":["https://openalex.org/I96733725"]},{"raw_affiliation_string":"Logistics Engineering College, Shanghai Maritime University, Shanghai, China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014920697","display_name":"Jianguo Duan","orcid":"https://orcid.org/0000-0003-1548-4637"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianguo Duan","raw_affiliation_strings":["Shanghai Maritime University","China (Shanghai) Free Trade Zone Supply Chain Research Institute, Shanghai Maritime University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Maritime University","institution_ids":["https://openalex.org/I96733725"]},{"raw_affiliation_string":"China (Shanghai) Free Trade Zone Supply Chain Research Institute, Shanghai Maritime University, Shanghai, China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107838728","display_name":"Jiyun Qin","orcid":null},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiyun Qin","raw_affiliation_strings":["Shanghai Maritime University","China (Shanghai) Free Trade Zone Supply Chain Research Institute, Shanghai Maritime University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Maritime University","institution_ids":["https://openalex.org/I96733725"]},{"raw_affiliation_string":"China (Shanghai) Free Trade Zone Supply Chain Research Institute, Shanghai Maritime University, Shanghai, China","institution_ids":["https://openalex.org/I96733725"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031636308"],"corresponding_institution_ids":["https://openalex.org/I96733725"],"apc_list":null,"apc_paid":null,"fwci":0.3044,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.53285417,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"22","issue":"5","first_page":"1545","last_page":"1557"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9973999857902527,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7543400526046753},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7132434248924255},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5621445775032043},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5108403563499451},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5089194774627686},{"id":"https://openalex.org/keywords/adaptive-sampling","display_name":"Adaptive sampling","score":0.49448132514953613},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4665951728820801},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.45853739976882935},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.4451352059841156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44357195496559143},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4189666509628296},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.41276082396507263},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4101770520210266},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3853423595428467},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3311130106449127},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17719921469688416}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7543400526046753},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7132434248924255},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5621445775032043},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5108403563499451},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5089194774627686},{"id":"https://openalex.org/C2781395549","wikidata":"https://www.wikidata.org/wiki/Q4680762","display_name":"Adaptive sampling","level":3,"score":0.49448132514953613},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4665951728820801},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.45853739976882935},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.4451352059841156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44357195496559143},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4189666509628296},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41276082396507263},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4101770520210266},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3853423595428467},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3311130106449127},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17719921469688416},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3233/jcm-226140","is_oa":false,"landing_page_url":"https://doi.org/10.3233/jcm-226140","pdf_url":null,"source":{"id":"https://openalex.org/S2765058733","display_name":"Journal of Computational Methods in Sciences and Engineering","issn_l":"1472-7978","issn":["1472-7978","1875-8983"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computational Methods in Sciences and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1906034729","https://openalex.org/W1971086298","https://openalex.org/W1973419220","https://openalex.org/W2103776982","https://openalex.org/W2114171536","https://openalex.org/W2163426622","https://openalex.org/W2798145677","https://openalex.org/W2928801035","https://openalex.org/W3004112115","https://openalex.org/W6760973448"],"related_works":["https://openalex.org/W2126807813","https://openalex.org/W2051516969","https://openalex.org/W2242126349","https://openalex.org/W2118356379","https://openalex.org/W3093682756","https://openalex.org/W3199732739","https://openalex.org/W3021566437","https://openalex.org/W2497286804","https://openalex.org/W4226321481","https://openalex.org/W2105947532"],"abstract_inverted_index":{"Currently":[0],"available":[1],"algorithms":[2,186],"developed":[3],"for":[4,31,130],"planning":[5,47,92,128,141],"robot":[6],"motion":[7,46,91,127],"paths":[8],"in":[9,96,106,115],"configuration":[10,109],"spaces":[11],"with":[12,88,132,179],"both":[13],"obstacle":[14,163],"avoidance":[15],"constraints":[16,20,86,103],"and":[17,29,98,140,155],"end-effector":[18],"pose":[19],"suffer":[21],"from":[22],"low":[23],"sampling":[24,62],"rates,":[25],"long":[26],"computation":[27],"times,":[28],"requirements":[30],"specific":[32,85],"manipulator":[33],"structures.":[34],"The":[35,61,137,167],"present":[36],"work":[37],"addresses":[38],"this":[39],"issue":[40],"by":[41,149,177],"developing":[42],"an":[43,107,157],"improved":[44],"sampling-type":[45],"algorithm":[48,122,145,174],"based":[49,65,187],"on":[50,66,188],"a":[51,77,89,124,151],"modified":[52],"form":[53],"of":[54,135,143,171,182],"the":[55,67,71,84,102,116,120,144,162,172,180],"rapidly-exploring":[56],"random":[57],"tree":[58],"(RRT)":[59],"algorithm.":[60],"process":[63,129],"is":[64,74,112,175],"standard":[68],"premise":[69],"that":[70,82,111],"constrained":[72],"manifold":[73],"continuous":[75],"within":[76],"particular":[78],"range.":[79],"Therefore,":[80],"configurations":[81,100],"meet":[83],"associated":[87],"proscribed":[90],"task":[93],"are":[94,104,146],"sampled":[95],"advance,":[97],"those":[99],"meeting":[101],"stored":[105],"offline":[108],"dataset":[110],"employed":[113],"exclusively":[114],"RRT":[117],"process.":[118],"Accordingly,":[119],"proposed":[121,173],"facilitates":[123],"greatly":[125],"streamlined":[126],"manipulators":[131],"high":[133,168],"degrees":[134],"freedom.":[136],"computational":[138],"speed":[139],"precision":[142],"further":[147],"enhanced":[148],"introducing":[150],"target":[152],"bias":[153],"mechanism":[154,159],"applying":[156],"adaptive":[158],"to":[160],"improve":[161],"collision":[164],"detection":[165],"performance.":[166],"motion-planning":[169],"performance":[170],"verified":[176],"comparisons":[178],"performances":[181],"other":[183],"state-of-the-art":[184],"RRT-based":[185],"numerical":[189],"simulations.":[190]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
