{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T04:33:52Z","timestamp":1750221232207,"version":"3.41.0"},"reference-count":46,"publisher":"Association for Computing Machinery (ACM)","issue":"1","license":[{"start":{"date-parts":[[2018,5,21]],"date-time":"2018-05-21T00:00:00Z","timestamp":1526860800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100000143","name":"NSF Computing and Communication Foundations","doi-asserted-by":"crossref","award":["CCF-1533844"],"award-info":[{"award-number":["CCF-1533844"]}],"id":[{"id":"10.13039\/100000143","id-type":"DOI","asserted-by":"crossref"}]},{"name":"NSF Information & Intelligent Systems","award":["IIS-1149965"],"award-info":[{"award-number":["IIS-1149965"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2018,5,31]]},"abstract":"<jats:p>We present a robot motion planning approach for performing a learned task while reacting to the movement of obstacles and task-relevant objects. We employ a closed-loop, sampling-based motion planner operating multiple times a second that senses obstacles and task-relevant objects and generates collision-free motion plans based on a learned-task model. The task model is learned from expert demonstrations prior to task execution and is represented as a hidden Markov model. During task execution, our motion planner quickly searches in the Cartesian product of the task model and a probabilistic roadmap for a collision-free plan with features most similar to the demonstrations given the current locations of the task-relevant objects. We accelerate replanning using a fast bidirectional search and by biasing the sampling distribution using information from the learned-task model. We show the efficacy of our approach with the Baxter robot performing two tasks.<\/jats:p>","DOI":"10.1145\/3209045","type":"journal-article","created":{"date-parts":[[2019,5,7]],"date-time":"2019-05-07T12:15:57Z","timestamp":1557231357000},"page":"1-16","source":"Crossref","is-referenced-by-count":1,"title":["Closed-Loop Global Motion Planning for Reactive, Collision-Free Execution of Learned Tasks"],"prefix":"10.1145","volume":"7","author":[{"given":"Chris","family":"Bowen","sequence":"first","affiliation":[{"name":"University of North Carolina at Chapel Hill, NC, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ron","family":"Alterovitz","sequence":"additional","affiliation":[{"name":"University of North Carolina at Chapel Hill, NC, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2018,5,21]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980286"},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.5555\/3091622.3091629"},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA\u201911)","author":"Berenson Dmitry","key":"e_1_2_2_3_1"},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA\u201909)","author":"Berenson Dmitry","key":"e_1_2_2_4_1"},{"key":"e_1_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2015.03.005"},{"key":"e_1_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942792"},{"key":"e_1_2_2_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2014.2342718"},{"key":"e_1_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759547"},{"volume-title":"Proceedings of the IEEE-RAS International Conference on Humanoid Robots. 582--588","author":"Calinon Sylvain","key":"e_1_2_2_9_1"},{"key":"e_1_2_2_10_1","unstructured":"Howie Choset Kevin M. Lynch Seth A. Hutchinson George A. Kantor Wolfram Burgard Lydia E. Kavraki and Sebastian Thrun. 2005. Principles of Robot Motion: Theory Algorithms and Implementations. MIT Press Cambridge MA.  Howie Choset Kevin M. Lynch Seth A. Hutchinson George A. Kantor Wolfram Burgard Lydia E. Kavraki and Sebastian Thrun. 2005. Principles of Robot Motion: Theory Algorithms and Implementations. MIT Press Cambridge MA."},{"key":"e_1_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509596"},{"key":"e_1_2_2_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2012.6651589"},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS\u201912). 1904","year":"1910","author":"Ioan","key":"e_1_2_2_13_1"},{"key":"e_1_2_2_14_1","unstructured":"Neil T. Dantam Zachary K. Kingston Swarat Chaudhuri and Lydia E. Kavraki. 2016. Incremental task and motion planning: A constraint-based approach. In Robotics: Science and Systems (RSS\u201916). Robotics: Science and Systems Foundation.  Neil T. Dantam Zachary K. Kingston Swarat Chaudhuri and Lydia E. Kavraki. 2016. Incremental task and motion planning: A constraint-based approach. In Robotics: Science and Systems (RSS\u201916). Robotics: Science and Systems Foundation."},{"key":"e_1_2_2_15_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10044-003-0198-6"},{"key":"e_1_2_2_16_1","doi-asserted-by":"publisher","DOI":"10.1145\/322358.322360"},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS\u201913)","author":"Dobson A.","key":"e_1_2_2_17_1"},{"key":"e_1_2_2_18_1","doi-asserted-by":"publisher","DOI":"10.5772\/5611"},{"key":"e_1_2_2_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1641879"},{"key":"e_1_2_2_20_1","doi-asserted-by":"publisher","DOI":"10.1145\/2767002"},{"key":"e_1_2_2_21_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-011-9254-z"},{"key":"e_1_2_2_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006703"},{"key":"e_1_2_2_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2049527"},{"key":"e_1_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2012.VIII.019"},{"key":"e_1_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509959"},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911406761"},{"key":"e_1_2_2_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/70.508439"},{"key":"e_1_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9287-y"},{"key":"e_1_2_2_29_1","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714001234"},{"key":"e_1_2_2_30_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908091153"},{"key":"e_1_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914545811"},{"key":"e_1_2_2_32_1","doi-asserted-by":"crossref","unstructured":"Steven M. LaValle. 2006. Planning Algorithms. Cambridge University Press Cambridge UK.   Steven M. LaValle. 2006. Planning Algorithms. Cambridge University Press Cambridge UK.","DOI":"10.1017\/CBO9780511546877"},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA\u201913)","author":"Luna Ryan","key":"e_1_2_2_33_1"},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA\u201911)","author":"Mainprice J.","key":"e_1_2_2_34_1"},{"key":"e_1_2_2_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2234312"},{"key":"e_1_2_2_36_1","doi-asserted-by":"publisher","DOI":"10.1145\/2696454.2696474"},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS\u201911)","author":"Pastor P.","key":"e_1_2_2_37_1"},{"volume-title":"Retrieved","year":"2013","author":"Robotics Rethink","key":"e_1_2_2_38_1"},{"key":"e_1_2_2_39_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2010.5686849"},{"key":"e_1_2_2_40_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2011.07.023"},{"key":"e_1_2_2_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6906922"},{"key":"e_1_2_2_42_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2044949"},{"key":"e_1_2_2_43_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-009-9151-x"},{"key":"e_1_2_2_44_1","volume-title":"Proceedings of the International Symposium on Robotics Research (ISRR\u201911)","volume":"100","author":"Ye Gu","year":"2011"},{"key":"e_1_2_2_45_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363553"},{"key":"e_1_2_2_46_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913488805"}],"container-title":["ACM Transactions on Human-Robot Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3209045","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3209045","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T02:07:06Z","timestamp":1750212426000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3209045"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,5,21]]},"references-count":46,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2018,5,31]]}},"alternative-id":["10.1145\/3209045"],"URL":"https:\/\/doi.org\/10.1145\/3209045","relation":{},"ISSN":["2573-9522"],"issn-type":[{"type":"electronic","value":"2573-9522"}],"subject":[],"published":{"date-parts":[[2018,5,21]]}}}