{"id":"https://openalex.org/W4385978008","doi":"https://doi.org/10.3390/robotics12040118","title":"Online Motion Planning for Safe Human\u2013Robot Cooperation Using B-Splines and Hidden Markov Models","display_name":"Online Motion Planning for Safe Human\u2013Robot Cooperation Using B-Splines and Hidden Markov Models","publication_year":2023,"publication_date":"2023-08-18","ids":{"openalex":"https://openalex.org/W4385978008","doi":"https://doi.org/10.3390/robotics12040118"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12040118","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12040118","pdf_url":"https://www.mdpi.com/2218-6581/12/4/118/pdf?version=1692337517","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/12/4/118/pdf?version=1692337517","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031429196","display_name":"Giovanni Braglia","orcid":null},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]},{"id":"https://openalex.org/I4210161797","display_name":"Ferrari (Italy)","ror":"https://ror.org/05p859a12","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210161797"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Giovanni Braglia","raw_affiliation_strings":["Engineering Department Enzo Ferrari, University of Modena and Reggio Emilia, 41125 Modena, Italy","Engineering Department Enzo Ferrari, University of Modena and Reggio Emilia, 41125 Modena, Italy;"],"raw_orcid":"https://orcid.org/0000-0002-2230-8191","affiliations":[{"raw_affiliation_string":"Engineering Department Enzo Ferrari, University of Modena and Reggio Emilia, 41125 Modena, Italy","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"Engineering Department Enzo Ferrari, University of Modena and Reggio Emilia, 41125 Modena, Italy;","institution_ids":["https://openalex.org/I122346577","https://openalex.org/I4210161797"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059789789","display_name":"Matteo Tagliavini","orcid":"https://orcid.org/0009-0000-5312-6537"},"institutions":[{"id":"https://openalex.org/I4210166129","display_name":"Interventi Geo Ambientali (Italy)","ror":"https://ror.org/05y0y3z70","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210166129"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Tagliavini","raw_affiliation_strings":["Ideativa, 41125 Modena, Italy","2 Ideativa, 41125 Modena, Italy;"],"raw_orcid":"https://orcid.org/0009-0000-5312-6537","affiliations":[{"raw_affiliation_string":"Ideativa, 41125 Modena, Italy","institution_ids":["https://openalex.org/I4210166129"]},{"raw_affiliation_string":"2 Ideativa, 41125 Modena, Italy;","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030367089","display_name":"Fabio Pini","orcid":"https://orcid.org/0000-0001-9263-426X"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]},{"id":"https://openalex.org/I4210161797","display_name":"Ferrari (Italy)","ror":"https://ror.org/05p859a12","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210161797"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fabio Pini","raw_affiliation_strings":["Engineering Department Enzo Ferrari, University of Modena and Reggio Emilia, 41125 Modena, Italy","Engineering Department Enzo Ferrari, University of Modena and Reggio Emilia, 41125 Modena, Italy;"],"raw_orcid":"https://orcid.org/0000-0001-9263-426X","affiliations":[{"raw_affiliation_string":"Engineering Department Enzo Ferrari, University of Modena and Reggio Emilia, 41125 Modena, Italy","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"Engineering Department Enzo Ferrari, University of Modena and Reggio Emilia, 41125 Modena, Italy;","institution_ids":["https://openalex.org/I122346577","https://openalex.org/I4210161797"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070487792","display_name":"Luigi Biagiotti","orcid":null},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]},{"id":"https://openalex.org/I4210161797","display_name":"Ferrari (Italy)","ror":"https://ror.org/05p859a12","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210161797"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi Biagiotti","raw_affiliation_strings":["Engineering Department Enzo Ferrari, University of Modena and Reggio Emilia, 41125 Modena, Italy","Engineering Department Enzo Ferrari, University of Modena and Reggio Emilia, 41125 Modena, Italy;"],"raw_orcid":"https://orcid.org/0000-0002-2343-6929","affiliations":[{"raw_affiliation_string":"Engineering Department Enzo Ferrari, University of Modena and Reggio Emilia, 41125 Modena, Italy","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"Engineering Department Enzo Ferrari, University of Modena and Reggio Emilia, 41125 Modena, Italy;","institution_ids":["https://openalex.org/I122346577","https://openalex.org/I4210161797"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031429196"],"corresponding_institution_ids":["https://openalex.org/I122346577","https://openalex.org/I4210161797"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":2034,"currency":"EUR","value_usd":2193},"fwci":2.3314,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.88381642,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"12","issue":"4","first_page":"118","last_page":"118"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"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":0.9951000213623047,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9933000206947327,"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":0.7611818909645081},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7164682149887085},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7127930521965027},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6319140195846558},{"id":"https://openalex.org/keywords/hidden-markov-model","display_name":"Hidden Markov model","score":0.5671452283859253},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.5090441107749939},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.507155179977417},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4468103349208832},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4466097354888916},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43730318546295166},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.4304797947406769},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3976752460002899},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34322047233581543},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.21325600147247314},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20238208770751953}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7611818909645081},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7164682149887085},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7127930521965027},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6319140195846558},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.5671452283859253},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.5090441107749939},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.507155179977417},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4468103349208832},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4466097354888916},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43730318546295166},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.4304797947406769},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3976752460002899},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34322047233581543},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.21325600147247314},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20238208770751953},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics12040118","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12040118","pdf_url":"https://www.mdpi.com/2218-6581/12/4/118/pdf?version=1692337517","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:iris.unimore.it:11380/1315329","is_oa":true,"landing_page_url":"https://hdl.handle.net/11380/1315329","pdf_url":"https://iris.unimore.it/bitstream/11380/1315329/1/robotics-12-00118.pdf","source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"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":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:9662130736024b0e99f51ba9362b67b8","is_oa":true,"landing_page_url":"https://doaj.org/article/9662130736024b0e99f51ba9362b67b8","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 12, Iss 4, p 118 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/12/4/118/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics12040118","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Robotics","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics12040118","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12040118","pdf_url":"https://www.mdpi.com/2218-6581/12/4/118/pdf?version=1692337517","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4385978008.pdf"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1837533429","https://openalex.org/W1993938889","https://openalex.org/W1994349244","https://openalex.org/W2018795431","https://openalex.org/W2020934227","https://openalex.org/W2056282446","https://openalex.org/W2084835622","https://openalex.org/W2103120971","https://openalex.org/W2103873528","https://openalex.org/W2116113712","https://openalex.org/W2128677288","https://openalex.org/W2140466491","https://openalex.org/W2152536965","https://openalex.org/W2152891050","https://openalex.org/W2161819990","https://openalex.org/W2284232578","https://openalex.org/W2318055712","https://openalex.org/W2664907401","https://openalex.org/W2736887377","https://openalex.org/W2888563932","https://openalex.org/W2904494904","https://openalex.org/W2948218505","https://openalex.org/W2963731007","https://openalex.org/W2964222556","https://openalex.org/W3035497536","https://openalex.org/W3086366941","https://openalex.org/W3102334304","https://openalex.org/W3138330110","https://openalex.org/W4245882831","https://openalex.org/W4283756722","https://openalex.org/W4286210104","https://openalex.org/W4294298912","https://openalex.org/W4378697332","https://openalex.org/W4379141519","https://openalex.org/W4383109321"],"related_works":["https://openalex.org/W2053269318","https://openalex.org/W2364370872","https://openalex.org/W2359600231","https://openalex.org/W3216757130","https://openalex.org/W2380019117","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3154539612"],"abstract_inverted_index":{"When":[0],"humans":[1],"and":[2,35,69,83],"robots":[3],"work":[4],"together,":[5],"ensuring":[6],"safe":[7],"cooperation":[8],"must":[9],"be":[10],"a":[11,18,62,80,99,117],"priority.":[12],"This":[13,73],"research":[14],"aims":[15],"to":[16,77,79],"develop":[17],"novel":[19],"real-time":[20],"planning":[21],"algorithm":[22,76,104],"that":[23,66],"can":[24],"handle":[25],"unpredictable":[26],"human":[27,46],"movements":[28],"by":[29,116],"both":[30],"slowing":[31],"down":[32],"task":[33],"execution":[34],"modifying":[36],"the":[37,42,45,56,75,93,109],"robot\u2019s":[38,57],"path":[39],"based":[40],"on":[41],"proximity":[43],"of":[44,112],"operator.":[47],"To":[48],"achieve":[49],"this,":[50],"an":[51,113],"efficient":[52],"method":[53],"for":[54],"updating":[55],"motion":[58],"is":[59,89],"developed":[60],"using":[61,92],"two-fold":[63],"control":[64],"approach":[65],"combines":[67],"B-splines":[68],"hidden":[70],"Markov":[71],"models.":[72],"allows":[74],"adapt":[78],"changing":[81],"environment":[82],"avoid":[84],"collisions.":[85],"The":[86],"proposed":[87],"framework":[88],"thus":[90],"validated":[91],"Franka":[94],"Emika":[95],"Panda":[96],"robot":[97],"in":[98],"simple":[100],"start\u2013goal":[101],"task.":[102],"Our":[103],"successfully":[105],"avoids":[106],"collision":[107],"with":[108],"moving":[110],"hand":[111],"operator":[114],"monitored":[115],"fixed":[118],"camera.":[119]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2023-08-19T00:00:00"}
