{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,26]],"date-time":"2026-03-26T13:27:21Z","timestamp":1774531641962,"version":"3.50.1"},"reference-count":28,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2016,10,17]],"date-time":"2016-10-17T00:00:00Z","timestamp":1476662400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2016,10,17]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Streamlining automated processes is currently undertaken by developing optimization methods and algorithms for robotic manipulators. This paper aims to present a new approach to improve streamlining of automatic processes. This new approach allows for multiple robotic manipulators commonly found in the industrial environment to handle different scenarios, thus providing a high-flexibility solution to automated processes.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The developed system is based on a spatial discretization methodology capable of describing the surrounding environment of the robot, followed by a novel path-planning algorithm. Gazebo was the simulation engine chosen, and the robotic manipulator used was the Universal Robot 5 (UR5). The proposed system was tested using the premises of two robotic challenges: EuRoC and Amazon Picking Challenge.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The developed system was able to identify and describe the influence of each joint in the Cartesian space, and it was possible to control multiple robotic manipulators safely regardless of any obstacles in a given scene.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>This new system was tested in both real and simulated environments, and data collected showed that this new system performed well in real-life scenarios, such as EuRoC and Amazon Picking Challenge.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The new proposed approach can be valuable in the robotics field with applications in various industrial scenarios, as it provides a flexible solution for multiple robotic manipulator path and motion planning.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-01-2016-0006","type":"journal-article","created":{"date-parts":[[2016,10,19]],"date-time":"2016-10-19T03:29:28Z","timestamp":1476847768000},"page":"657-664","source":"Crossref","is-referenced-by-count":18,"title":["Multiple manipulators path planning using double A*"],"prefix":"10.1108","volume":"43","author":[{"given":"Pedro","family":"Tavares","sequence":"first","affiliation":[]},{"given":"Jos\u00e9","family":"Lima","sequence":"additional","affiliation":[]},{"given":"Pedro","family":"Costa","sequence":"additional","affiliation":[]},{"given":"A.","family":"Paulo Moreira","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"issue":"6","key":"key2020121204585414100_ref001","doi-asserted-by":"crossref","first-page":"628","DOI":"10.1177\/027836499101000604","article-title":"Robot motion planning: a distributed representation approach","volume":"10","year":"1991","journal-title":"International Journal of Robotics Research"},{"key":"key2020121204585414100_ref002","first-page":"1","article-title":"The KUKA-DLR lightweight robot arm - a new reference platform for robotics research and manufacturing","year":"2010"},{"issue":"9\/10","key":"key2020121204585414100_ref003","first-page":"999","article-title":"High-precision assembly automation based on robot compliance","volume":"45","year":"2009","journal-title":"International Journal of Advanced Manufacturing Technology"},{"issue":"4","key":"key2020121204585414100_ref004","doi-asserted-by":"crossref","first-page":"345","DOI":"10.1108\/01439910310479612","article-title":"Robotic manipulation of food products \u2013 a review","volume":"30","year":"2003","journal-title":"Industrial Robot-an International Journal"},{"issue":"3","key":"key2020121204585414100_ref005","first-page":"23","article-title":"\u2018Ros on the pr2\u2019","volume":"17","year":"2010","journal-title":"IEEE Robotics & Automation Magazine"},{"key":"key2020121204585414100_ref006","first-page":"1","article-title":"An implementation of ROS on the yellowfin autonomous underwater vehicle (AUV)","year":"2011"},{"key":"key2020121204585414100_ref007","volume-title":"A Kinematic Notation for Lower Pair Mechanisms Based on Matrices","year":"1955"},{"issue":"4","key":"key2020121204585414100_ref008","doi-asserted-by":"crossref","first-page":"351","DOI":"10.1016\/j.rcim.2004.01.002","article-title":"Collision-free motion planning of dual-arm reconfigurable robots","volume":"20","year":"2004","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"issue":"2","key":"key2020121204585414100_ref009","first-page":"80","article-title":"\u2018little helper\u2019 \u2013 an autonomous industrial mobile manipulator concept","volume":"8","year":"2011","journal-title":"International Journal of Advanced Robotic Systems"},{"issue":"3","key":"key2020121204585414100_ref010","article-title":"Gross motion planning \u2013 a survey","volume":"24","year":"1992","journal-title":"ACM Computing Surveys"},{"key":"key2020121204585414100_ref011","first-page":"490","article-title":"Robotized assembly of a wire harness in car production line","year":"2010"},{"key":"key2020121204585414100_ref012","unstructured":"Kim, J.-H. 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