{"id":"https://openalex.org/W2164892108","doi":"https://doi.org/10.1109/iros.2009.5354415","title":"Roadmap composition for multi-arm systems path planning","display_name":"Roadmap composition for multi-arm systems path planning","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2164892108","doi":"https://doi.org/10.1109/iros.2009.5354415","mag":"2164892108"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354415","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354415","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5103367504","display_name":"Mokhtar Gharbi","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mokhtar Gharbi","raw_affiliation_strings":["LAAS, CNRS, Toulouse, France","UPS, INSA, INP, ISAE LAAS, Universit\u00e9 de Toulouse, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"UPS, INSA, INP, ISAE LAAS, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073142247","display_name":"Juan Cort\u00e9s","orcid":"https://orcid.org/0000-0002-4660-0306"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Juan Cortes","raw_affiliation_strings":["LAAS, CNRS, Toulouse, France","UPS, INSA, INP, ISAE LAAS, Universit\u00e9 de Toulouse, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"UPS, INSA, INP, ISAE LAAS, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053083218","display_name":"Thierry Sim\u00e9on","orcid":"https://orcid.org/0000-0001-9815-753X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Thierry Simeon","raw_affiliation_strings":["LAAS, CNRS, Toulouse, France","UPS, INSA, INP, ISAE LAAS, Universit\u00e9 de Toulouse, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"UPS, INSA, INP, ISAE LAAS, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0727,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.79742089,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2471","last_page":"2476"},"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":0.9965999722480774,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8319718837738037},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7800352573394775},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5970523357391357},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5731157064437866},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5599527955055237},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.5218530893325806},{"id":"https://openalex.org/keywords/composition","display_name":"Composition (language)","score":0.5010855197906494},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4931747317314148},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4421417713165283},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35625725984573364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2263873815536499},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.09867599606513977},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.06923678517341614}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8319718837738037},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7800352573394775},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5970523357391357},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5731157064437866},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5599527955055237},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.5218530893325806},{"id":"https://openalex.org/C40231798","wikidata":"https://www.wikidata.org/wiki/Q1333743","display_name":"Composition (language)","level":2,"score":0.5010855197906494},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4931747317314148},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4421417713165283},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35625725984573364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2263873815536499},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.09867599606513977},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.06923678517341614},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354415","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354415","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W181534116","https://openalex.org/W1424654272","https://openalex.org/W1495392417","https://openalex.org/W1521785144","https://openalex.org/W1525190438","https://openalex.org/W1855996840","https://openalex.org/W1937587174","https://openalex.org/W2021118704","https://openalex.org/W2053407718","https://openalex.org/W2064457183","https://openalex.org/W2066011869","https://openalex.org/W2066202893","https://openalex.org/W2096916336","https://openalex.org/W2107535513","https://openalex.org/W2109212155","https://openalex.org/W2117828438","https://openalex.org/W2128990851","https://openalex.org/W2134167019","https://openalex.org/W2150500908","https://openalex.org/W2152128591","https://openalex.org/W2155229899","https://openalex.org/W2159722616","https://openalex.org/W2161473822","https://openalex.org/W2162189406","https://openalex.org/W2162488100","https://openalex.org/W2166462345","https://openalex.org/W2169742265","https://openalex.org/W2611243847","https://openalex.org/W3115270213","https://openalex.org/W4242811155","https://openalex.org/W4244044799","https://openalex.org/W4252255242","https://openalex.org/W6629573421","https://openalex.org/W6682124187","https://openalex.org/W6683723728","https://openalex.org/W6684062045"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,43,56,60,69,75],"new":[4],"method":[5,22,79],"for":[6,15,38,55],"planning":[7],"motions":[8],"of":[9,28,50,62,73],"multi-arm":[10],"systems":[11],"in":[12],"constrained":[13],"workspaces,":[14],"which":[16],"state-of-the-art":[17],"planners":[18],"behave":[19],"poorly.":[20],"The":[21],"is":[23,45],"based":[24],"on":[25],"the":[26,29,48,63,87],"decomposition":[27],"system":[30,58],"into":[31],"parts.":[32],"Compact":[33],"roadmaps":[34],"are":[35],"first":[36],"computed":[37],"each":[39],"part,":[40],"and":[41,59],"then,":[42],"super-graph":[44],"constructed":[46],"by":[47],"composition":[49],"elementary":[51],"roadmaps.":[52],"Results":[53],"presented":[54],"three-arm":[57],"model":[61],"complex":[64],"DLR's":[65],"Justin":[66],"robot":[67],"show":[68],"significant":[70],"performance":[71],"gain":[72],"such":[74],"two-stage":[76],"roadmap":[77],"construction":[78],"with":[80],"respect":[81],"to":[82,86],"single-stage":[83],"methods":[84],"applied":[85],"whole":[88],"system.":[89]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}