{"id":"https://openalex.org/W3032705298","doi":"https://doi.org/10.1109/lra.2020.3032367","title":"Stochastic Modeling of Distance to Collision for Robot Manipulators","display_name":"Stochastic Modeling of Distance to Collision for Robot Manipulators","publication_year":2020,"publication_date":"2020-10-21","ids":{"openalex":"https://openalex.org/W3032705298","doi":"https://doi.org/10.1109/lra.2020.3032367","mag":"3032705298"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3032367","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3032367","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2005.14391","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042130437","display_name":"Nikhil Das","orcid":"https://orcid.org/0000-0002-5049-5422"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nikhil Das","raw_affiliation_strings":["Advanced Robotics and Controls Lab, University of California, San Diego, CA, USA"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Controls Lab, University of California, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054598974","display_name":"Michael C. Yip","orcid":"https://orcid.org/0000-0001-9689-0172"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael C. Yip","raw_affiliation_strings":["Advanced Robotics and Controls Lab, University of California, San Diego, CA, USA"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Controls Lab, University of California, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5042130437"],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0483753,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":"1","first_page":"207","last_page":"214"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.988099992275238,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9879999756813049,"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/computer-science","display_name":"Computer science","score":0.6163990497589111},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.585415244102478},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5767400860786438},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5253773927688599},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.47142547369003296},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4659467935562134},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4555162489414215},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.42047178745269775},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.41696566343307495},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3473866283893585},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2608851194381714}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6163990497589111},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.585415244102478},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5767400860786438},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5253773927688599},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.47142547369003296},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4659467935562134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4555162489414215},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.42047178745269775},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.41696566343307495},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3473866283893585},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2608851194381714},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2020.3032367","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3032367","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2005.14391","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2005.14391","pdf_url":"https://arxiv.org/pdf/2005.14391","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3032705298","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2005.14391.pdf","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2005.14391","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2005.14391","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":"pmh:oai:arXiv.org:2005.14391","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2005.14391","pdf_url":"https://arxiv.org/pdf/2005.14391","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3032705298.pdf","grobid_xml":"https://content.openalex.org/works/W3032705298.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W141244604","https://openalex.org/W604429516","https://openalex.org/W1489867037","https://openalex.org/W1967613038","https://openalex.org/W1971713783","https://openalex.org/W1985258161","https://openalex.org/W2004139909","https://openalex.org/W2007154098","https://openalex.org/W2034360491","https://openalex.org/W2116113712","https://openalex.org/W2162179351","https://openalex.org/W2166316739","https://openalex.org/W2168029744","https://openalex.org/W2293883387","https://openalex.org/W2720679468","https://openalex.org/W2755926681","https://openalex.org/W2805114031","https://openalex.org/W2991069568","https://openalex.org/W3003604824","https://openalex.org/W3008381373","https://openalex.org/W3009220630","https://openalex.org/W3034321539","https://openalex.org/W3101749733","https://openalex.org/W4229930971","https://openalex.org/W4244344158","https://openalex.org/W6605295560","https://openalex.org/W6610229207","https://openalex.org/W6688384279","https://openalex.org/W6696417244","https://openalex.org/W6743350977","https://openalex.org/W6769154122","https://openalex.org/W6770903557"],"related_works":["https://openalex.org/W3094381599","https://openalex.org/W3192941785","https://openalex.org/W3009220630","https://openalex.org/W3049162991","https://openalex.org/W3130079089","https://openalex.org/W2738195924","https://openalex.org/W3112457812","https://openalex.org/W3120385703","https://openalex.org/W2793777304","https://openalex.org/W3013309378","https://openalex.org/W3129611905","https://openalex.org/W2012776932","https://openalex.org/W2516828253","https://openalex.org/W3211873077","https://openalex.org/W3103497574","https://openalex.org/W2562548250","https://openalex.org/W3206801026","https://openalex.org/W3090914879","https://openalex.org/W2982309288","https://openalex.org/W3023576513"],"abstract_inverted_index":{"Evaluating":[0],"distance":[1,27,40,52,90,108,137],"to":[2,53,85,91,111,118,125,183],"collision":[3,54],"for":[4,9,18,55,82],"robot":[5,15,21,57,83],"manipulators":[6],"is":[7,29,133],"useful":[8],"assessing":[10],"the":[11,34,39,50,66,74,96,100,131,155,195],"feasibility":[12],"of":[13,68,178,197],"a":[14,30,112,168,184,207],"configuration":[16],"or":[17],"defining":[19],"safe":[20],"motion":[22,163],"in":[23,37,48,143,176,189,201],"unpredictable":[24],"environments.":[25],"However,":[26],"estimation":[28],"time-consuming":[31],"operation,":[32],"and":[33,59,73,87,116,147,181,192],"sensors":[35],"involved":[36],"measuring":[38],"are":[41],"always":[42],"noisy.":[43],"A":[44],"challenge":[45],"thus":[46],"exists":[47],"evaluating":[49],"expected":[51],"safer":[56],"control":[58],"planning.":[60],"In":[61],"this":[62,141,198],"work,":[63],"we":[64,193],"propose":[65,167],"use":[67],"Gaussian":[69],"process":[70],"(GP)":[71],"regression":[72,127],"forward":[75],"kinematics":[76],"(FK)":[77],"kernel":[78,102],"(a":[79],"similarity":[80],"function":[81],"manipulators)":[84],"efficiently":[86],"accurately":[88],"estimate":[89],"collision.":[92],"We":[93,139,165],"show":[94],"that":[95,172],"GP":[97,132],"model":[98,171,200],"with":[99,154],"FK":[101],"achieves":[103],"almost":[104],"70":[105],"times":[106,120,150],"faster":[107,151],"evaluations":[109,123],"compared":[110,124],"standard":[113],"geometric":[114,157],"technique,":[115],"up":[117],"18":[119],"more":[121,185],"accurate":[122],"other":[126,190],"models,":[128],"even":[129],"when":[130],"trained":[134],"on":[135],"noisy":[136],"measurements.":[138],"employ":[140],"technique":[142],"trajectory":[144],"optimization":[145,152],"tasks":[146],"observe":[148],"13":[149],"than":[153],"noise-free":[156],"approach":[158,188],"yet":[159],"obtain":[160],"similar":[161],"optimized":[162],"plans.":[164],"also":[166],"confidence-based":[169],"hybrid":[170,199],"uses":[173],"model-based":[174],"predictions":[175],"regions":[177],"high":[179],"confidence":[180],"switches":[182],"expensive":[186],"sensor-based":[187],"areas,":[191],"demonstrate":[194],"usefulness":[196],"an":[202],"application":[203],"involving":[204],"reaching":[205],"into":[206],"narrow":[208],"passage.":[209]},"counts_by_year":[],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
