{"id":"https://openalex.org/W4388018329","doi":"https://doi.org/10.3390/s23218837","title":"Online Multi-Contact Motion Replanning for Humanoid Robots with Semantic 3D Voxel Mapping: ExOctomap","display_name":"Online Multi-Contact Motion Replanning for Humanoid Robots with Semantic 3D Voxel Mapping: ExOctomap","publication_year":2023,"publication_date":"2023-10-30","ids":{"openalex":"https://openalex.org/W4388018329","doi":"https://doi.org/10.3390/s23218837","pmid":"https://pubmed.ncbi.nlm.nih.gov/37960538"},"language":"en","primary_location":{"id":"doi:10.3390/s23218837","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23218837","pdf_url":"https://www.mdpi.com/1424-8220/23/21/8837/pdf?version=1698679684","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/21/8837/pdf?version=1698679684","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028774388","display_name":"Masato Tsuru","orcid":"https://orcid.org/0000-0002-1424-8643"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Masato Tsuru","raw_affiliation_strings":["CNRS-AIST Joint Robotics Laboratory, International Research Laboratory, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba 305-8560, Japan","Graduate School of Engineering and Science, Osaka University, Toyonaka 560-8531, Japan"],"raw_orcid":"https://orcid.org/0000-0002-1424-8643","affiliations":[{"raw_affiliation_string":"CNRS-AIST Joint Robotics Laboratory, International Research Laboratory, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba 305-8560, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Graduate School of Engineering and Science, Osaka University, Toyonaka 560-8531, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006252575","display_name":"Adrien Escande","orcid":"https://orcid.org/0000-0003-3844-7986"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Adrien Escande","raw_affiliation_strings":["INRIA Grenoble Rh\u00f4ne-Alpes, 38330 Montbonnot-Saint-Martin, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Grenoble Rh\u00f4ne-Alpes, 38330 Montbonnot-Saint-Martin, France","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046914866","display_name":"Iori Kumagai","orcid":"https://orcid.org/0000-0003-4204-4282"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Iori Kumagai","raw_affiliation_strings":["CNRS-AIST Joint Robotics Laboratory, International Research Laboratory, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba 305-8560, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS-AIST Joint Robotics Laboratory, International Research Laboratory, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba 305-8560, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066818005","display_name":"Masaki Murooka","orcid":"https://orcid.org/0000-0002-1258-0431"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaki Murooka","raw_affiliation_strings":["CNRS-AIST Joint Robotics Laboratory, International Research Laboratory, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba 305-8560, Japan"],"raw_orcid":"https://orcid.org/0000-0002-1258-0431","affiliations":[{"raw_affiliation_string":"CNRS-AIST Joint Robotics Laboratory, International Research Laboratory, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba 305-8560, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016270703","display_name":"Kensuke Harada","orcid":"https://orcid.org/0000-0002-7576-756X"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kensuke Harada","raw_affiliation_strings":["Automation Research Team, Industrial Cyber-Physical Systems Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tokyo 135-0064, Japan","Graduate School of Engineering and Science, Osaka University, Toyonaka 560-8531, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7576-756X","affiliations":[{"raw_affiliation_string":"Automation Research Team, Industrial Cyber-Physical Systems Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tokyo 135-0064, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Graduate School of Engineering and Science, Osaka University, Toyonaka 560-8531, Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5028774388"],"corresponding_institution_ids":["https://openalex.org/I73613424","https://openalex.org/I98285908"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.3752,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.91853145,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"23","issue":"21","first_page":"8837","last_page":"8837"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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/octree","display_name":"Octree","score":0.7803365588188171},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7440997958183289},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.6892855763435364},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.5983878374099731},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5891169905662537},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.5887173414230347},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5581875443458557},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5371952652931213},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5124173760414124},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4955524206161499},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.4554937779903412},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.44375744462013245},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.10383066534996033},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09194302558898926}],"concepts":[{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.7803365588188171},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7440997958183289},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.6892855763435364},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.5983878374099731},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5891169905662537},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.5887173414230347},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5581875443458557},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5371952652931213},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5124173760414124},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4955524206161499},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.4554937779903412},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.44375744462013245},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.10383066534996033},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09194302558898926},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s23218837","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23218837","pdf_url":"https://www.mdpi.com/1424-8220/23/21/8837/pdf?version=1698679684","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:37960538","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37960538","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10647646","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10647646","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10647646/pdf/sensors-23-08837.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:e1cff88d4e4e4b7683fe02ba7d19fd1d","is_oa":true,"landing_page_url":"https://doaj.org/article/e1cff88d4e4e4b7683fe02ba7d19fd1d","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 21, p 8837 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s23218837","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23218837","pdf_url":"https://www.mdpi.com/1424-8220/23/21/8837/pdf?version=1698679684","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4388018329.pdf"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1962169445","https://openalex.org/W2006905283","https://openalex.org/W2010608634","https://openalex.org/W2021153885","https://openalex.org/W2070507784","https://openalex.org/W2074658631","https://openalex.org/W2075060642","https://openalex.org/W2084959384","https://openalex.org/W2108507649","https://openalex.org/W2133844819","https://openalex.org/W2143729862","https://openalex.org/W2152864241","https://openalex.org/W2158070864","https://openalex.org/W2255696229","https://openalex.org/W2345626358","https://openalex.org/W2562662699","https://openalex.org/W2569763019","https://openalex.org/W2784947652","https://openalex.org/W2892340150","https://openalex.org/W2898231767","https://openalex.org/W2901136733","https://openalex.org/W3012062338","https://openalex.org/W3042402313","https://openalex.org/W3047392033","https://openalex.org/W3090386798","https://openalex.org/W3102994022","https://openalex.org/W3129868681","https://openalex.org/W3132538548","https://openalex.org/W3207570155","https://openalex.org/W4285176008","https://openalex.org/W4312418011","https://openalex.org/W6674505341"],"related_works":["https://openalex.org/W2776826689","https://openalex.org/W2348653124","https://openalex.org/W2089908184","https://openalex.org/W2392270594","https://openalex.org/W2950319056","https://openalex.org/W2373354512","https://openalex.org/W64528777","https://openalex.org/W2651765037","https://openalex.org/W2626767355","https://openalex.org/W2039086087"],"abstract_inverted_index":{"This":[0,55,87],"study":[1],"introduces":[2],"a":[3,9,83],"rapid":[4],"motion-replanning":[5],"technique":[6],"driven":[7],"by":[8,32],"semantic":[10,47,80],"3D":[11,97],"voxel":[12,48,101],"mapping":[13],"system,":[14],"essential":[15],"for":[16,43],"humanoid":[17],"robots":[18],"to":[19,95,143],"autonomously":[20],"navigate":[21],"unknown":[22],"territories":[23],"through":[24],"online":[25],"environmental":[26,58],"sensing.":[27],"Addressing":[28],"the":[29,33,90,104],"challenges":[30],"posed":[31],"conventional":[34],"approach":[35],"based":[36,113],"on":[37,114],"polygon":[38],"mesh":[39],"or":[40],"primitive":[41],"extraction":[42],"mapping,":[44,49],"we":[45,120],"adopt":[46],"utilizing":[50],"our":[51,123],"innovative":[52],"Extended-Octomap":[53],"(ExOctomap).":[54],"structure":[56],"archives":[57],"normal":[59],"vectors,":[60],"outcomes":[61],"of":[62,106],"Euclidean":[63],"Cluster":[64],"Extraction,":[65],"and":[66,116],"principal":[67],"component":[68],"analysis":[69],"within":[70],"an":[71,75],"Octree":[72],"structure,":[73],"facilitating":[74],"O(log":[76],"N)":[77],"efficiency":[78],"in":[79],"accessibility":[81],"from":[82,140],"position":[84],"query":[85],"x\u2208R3.":[86],"strategy":[88],"reduces":[89],"6D":[91],"contact":[92],"pose":[93],"search":[94,105],"simple":[96],"grid":[98],"sampling.":[99],"Moreover,":[100],"representation":[102],"enables":[103],"collision-free":[107],"trajectories":[108],"online.":[109],"Through":[110],"experimental":[111],"validation":[112],"simulations":[115],"real":[117],"robotic":[118],"experiments,":[119],"demonstrate":[121],"that":[122,138],"framework":[124],"can":[125],"efficiently":[126],"adapt":[127],"multi-contact":[128],"motions":[129],"across":[130],"diverse":[131],"environments,":[132],"achieving":[133],"near":[134],"real-time":[135],"planning":[136],"speeds":[137],"range":[139],"13.8":[141],"ms":[142,145],"115.7":[144],"per":[146],"contact.":[147]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}