{"id":"https://openalex.org/W7117729243","doi":"https://doi.org/10.48550/arxiv.2512.23140","title":"A New Software Tool for Generating and Visualizing Robot Self-Collision Matrices","display_name":"A New Software Tool for Generating and Visualizing Robot Self-Collision Matrices","publication_year":2025,"publication_date":"2025-12-29","ids":{"openalex":"https://openalex.org/W7117729243","doi":"https://doi.org/10.48550/arxiv.2512.23140"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2512.23140","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.23140","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2512.23140","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5121660667","display_name":"Roshan Klein-Seetharama","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Klein-Seetharama, Roshan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5121621189","display_name":"Daniel Rakita","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rakita, Daniel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.36880001425743103,"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":0.36880001425743103,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.11029999703168869,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.10869999974966049,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.5932000279426575},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5823000073432922},{"id":"https://openalex.org/keywords/software-tool","display_name":"Software tool","score":0.5734000205993652},{"id":"https://openalex.org/keywords/reuse","display_name":"Reuse","score":0.5633999705314636},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.5396000146865845},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5005999803543091}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.651199996471405},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5932000279426575},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5823000073432922},{"id":"https://openalex.org/C2984968299","wikidata":"https://www.wikidata.org/wiki/Q1077784","display_name":"Software tool","level":3,"score":0.5734000205993652},{"id":"https://openalex.org/C206588197","wikidata":"https://www.wikidata.org/wiki/Q846574","display_name":"Reuse","level":2,"score":0.5633999705314636},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.5396000146865845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5026999711990356},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5005999803543091},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.42719998955726624},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4106000065803528},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3871000111103058},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.374099999666214},{"id":"https://openalex.org/C37789001","wikidata":"https://www.wikidata.org/wiki/Q782543","display_name":"Graphical user interface","level":2,"score":0.2953000068664551},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.2928999960422516},{"id":"https://openalex.org/C149091818","wikidata":"https://www.wikidata.org/wiki/Q2429814","display_name":"Software system","level":3,"score":0.2818000018596649},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.28110000491142273},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2743000090122223}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2512.23140","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.23140","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2512.23140","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.23140","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0,134],"robotics,":[1],"it":[2],"is":[3,71,101,178],"common":[4],"to":[5,20,42,62,104,188],"check":[6,86],"whether":[7,84],"a":[8,16,29,75,85],"given":[9],"robot":[10,44,198],"state":[11],"results":[12],"in":[13,55,67,74,130,168,180],"self-intersection":[14],"(i.e.,":[15,28],"self-collision":[17,76,150,213],"query)":[18],"or":[19,64],"assess":[21],"its":[22,194],"distance":[23],"from":[24],"such":[25,106],"an":[26,139],"intersection":[27],"self-proximity":[30,215],"query).":[31],"These":[32],"checks":[33],"are":[34,60,110,166],"typically":[35,72],"performed":[36,89],"between":[37,90],"pairs":[38,51],"of":[39,48,116,162],"shapes":[40],"attached":[41],"different":[43],"links.":[45],"However,":[46],"many":[47],"these":[49,144],"shape":[50,91,94,154,163,206],"can":[52],"be":[53,88],"excluded":[54],"advance,":[56],"as":[57],"their":[58],"configurations":[59],"known":[61],"always":[63],"never":[65],"result":[66],"contact.":[68],"This":[69],"information":[70],"encoded":[73],"matrix,":[77],"where":[78],"each":[79],"entry":[80],"(i,":[81],"j)":[82],"indicates":[83],"should":[87],"i":[92],"and":[93,122,128,148,160,171,182,210,214],"j.":[95],"While":[96],"the":[97,184],"MoveIt":[98],"Setup":[99],"Assistant":[100],"widely":[102],"used":[103],"generate":[105],"matrices,":[107],"current":[108],"tools":[109],"limited":[111],"by":[112,146],"static":[113],"visualization,":[114],"lack":[115],"proximity":[117],"support,":[118],"rigid":[119],"single-geometry":[120],"assumptions,":[121],"tedious":[123],"refinement":[124,161],"workflows,":[125],"hindering":[126],"flexibility":[127],"reuse":[129],"downstream":[131],"robotics":[132],"applications.":[133],"this":[135],"work,":[136],"we":[137],"introduce":[138],"interactive":[140],"tool":[141],"that":[142,201],"overcomes":[143],"limitations":[145],"generating":[147],"visualizing":[149],"matrices":[151,202],"across":[152],"multiple":[153,197],"representations,":[155],"enabling":[156],"dynamic":[157],"inspection,":[158],"filtering,":[159],"pairs.":[164],"Outputs":[165],"provided":[167],"both":[169],"JSON":[170],"YAML":[172],"for":[173],"easy":[174],"integration.":[175],"The":[176],"system":[177],"implemented":[179],"Rust":[181],"uses":[183],"Bevy":[185],"game":[186],"engine":[187],"deliver":[189],"high-quality":[190],"visualizations.":[191],"We":[192],"demonstrate":[193],"effectiveness":[195],"on":[196],"platforms,":[199],"showing":[200],"generated":[203],"using":[204],"diverse":[205],"types":[207],"yield":[208],"faster":[209],"more":[211],"accurate":[212],"queries.":[216]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-12-31T00:00:00"}