{"id":"https://openalex.org/W4383172014","doi":"https://doi.org/10.1109/icra48891.2023.10160865","title":"Visibility-Aware Navigation Among Movable Obstacles","display_name":"Visibility-Aware Navigation Among Movable Obstacles","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383172014","doi":"https://doi.org/10.1109/icra48891.2023.10160865"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160865","doi":"https://doi.org/10.1109/icra48891.2023.10160865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160865","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2212.02671","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017100764","display_name":"Jose Muguira-Iturralde","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jose Muguira-Iturralde","raw_affiliation_strings":["CSAIL, MIT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSAIL, MIT, USA","institution_ids":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062719305","display_name":"Aidan Curtis","orcid":"https://orcid.org/0000-0003-3847-9187","observed_orcids":["https://orcid.org/0000-0003-3847-9187"]},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aidan Curtis","raw_affiliation_strings":["CSAIL, MIT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSAIL, MIT, USA","institution_ids":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041777043","display_name":"Yilun Du","orcid":"https://orcid.org/0000-0001-6792-5946","observed_orcids":["https://orcid.org/0000-0001-6792-5946"]},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yilun Du","raw_affiliation_strings":["CSAIL, MIT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSAIL, MIT, USA","institution_ids":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012862284","display_name":"Leslie Pack Kaelbling","orcid":"https://orcid.org/0000-0001-6054-7145","observed_orcids":["https://orcid.org/0000-0001-6054-7145"]},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Leslie Pack Kaelbling","raw_affiliation_strings":["CSAIL, MIT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSAIL, MIT, USA","institution_ids":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063238208","display_name":"Tom\u00e1s Lozano\u2010P\u00e9rez","orcid":"https://orcid.org/0000-0002-8657-2450","observed_orcids":["https://orcid.org/0000-0002-8657-2450"]},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tom\u00e1s Lozano-P\u00e9rez","raw_affiliation_strings":["CSAIL, MIT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSAIL, MIT, USA","institution_ids":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.4507,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.96587103,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"10083","last_page":"10089"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"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":0.0017999999690800905,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.000699999975040555,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/movable-obstacles","display_name":"movable obstacles","score":0.9290000200271606},{"id":"https://openalex.org/keywords/robot-navigation","display_name":"robot navigation","score":0.5509999990463257},{"id":"https://openalex.org/keywords/partial-observability","display_name":"partial observability","score":0.8949999809265137},{"id":"https://openalex.org/keywords/unknown-environments","display_name":"unknown environments","score":0.6320000290870667},{"id":"https://openalex.org/keywords/3d-environments","display_name":"3D environments","score":0.7429999709129333},{"id":"https://openalex.org/keywords/robot-motion-planning","display_name":"robot motion planning","score":0.6039999723434448}],"concepts":[{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.8870992660522461},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7411333322525024},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6244387030601501},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.6147488951683044},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6121944189071655},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5996023416519165},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.590545654296875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5647600889205933},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5439320802688599},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.49895215034484863},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4400786757469177},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.42715588212013245},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4198282063007355},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.41946542263031006},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.22319281101226807},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11863154172897339},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48891.2023.10160865","doi":"https://doi.org/10.1109/icra48891.2023.10160865","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160865","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2212.02671","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2212.02671","pdf_url":"https://arxiv.org/pdf/2212.02671","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":null,"raw_type":"text"},{"id":"pmh:oai:dspace.mit.edu:1721.1/150289","doi":null,"is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/150289","pdf_url":"https://dspace.mit.edu/bitstream/1721.1/150289/1/muguiraiturralde-jmuguira-meng-eecs-2023-thesis.pdf","source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"},{"id":"doi:10.48550/arxiv.2212.02671","doi":"https://doi.org/10.48550/arxiv.2212.02671","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2212.02671","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2212.02671","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2212.02671","pdf_url":"https://arxiv.org/pdf/2212.02671","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"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":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4383172014.pdf","grobid_xml":"https://content.openalex.org/works/W4383172014.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W124447425","https://openalex.org/W1008966784","https://openalex.org/W1484557735","https://openalex.org/W1593316755","https://openalex.org/W1975023795","https://openalex.org/W1983855471","https://openalex.org/W1989604857","https://openalex.org/W2017146873","https://openalex.org/W2034136660","https://openalex.org/W2107667896","https://openalex.org/W2280761241","https://openalex.org/W2340238674","https://openalex.org/W2409009991","https://openalex.org/W2540258482","https://openalex.org/W2566555774","https://openalex.org/W2890105422","https://openalex.org/W2909735162","https://openalex.org/W2986717012","https://openalex.org/W4312770775"],"related_works":["https://openalex.org/W2280761241","https://openalex.org/W1975023795","https://openalex.org/W7099710334","https://openalex.org/W1983855471","https://openalex.org/W2340238674","https://openalex.org/W3132058511","https://openalex.org/W7025460274","https://openalex.org/W4240202985","https://openalex.org/W4413918677","https://openalex.org/W2143211417"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,104],"examine":[4],"the":[5,18,40,44,50,62,67,97,112],"problem":[6,37,64],"of":[7,17,61,108,147],"visibility-aware":[8,138],"robot":[9,30,92],"navigation":[10],"among":[11],"movable":[12],"obstacles":[13],"(VANAMO).":[14],"A":[15],"variant":[16],"well-known":[19],"NAMO":[20,136],"robotic":[21],"planning":[22,140],"problem,":[23],"VANAMO":[24,63],"puts":[25],"additional":[26],"visibility":[27,116],"constraints":[28],"on":[29,149],"motion":[31,139],"and":[32,49,65,69,94,117,137],"object":[33,51,118],"movability.":[34],"This":[35],"new":[36],"formulation":[38],"lifts":[39],"restrictive":[41],"assumption":[42],"that":[43,84,110,120,133],"map":[45],"is":[46],"fully":[47,54],"visible":[48],"positions":[52],"are":[53],"known.":[55],"We":[56,131],"provide":[57],"a":[58,80,106],"formal":[59],"definition":[60],"propose":[66],"Look":[68],"Manipulate":[70],"Backchaining":[71],"(LAMB)":[72],"algorithm":[73],"for":[74],"solving":[75],"such":[76],"problems.":[77],"Lamb":[78,134],"has":[79],"simple":[81,145],"vision-based":[82],"interface":[83],"makes":[85],"it":[86],"more":[87],"easily":[88],"transferable":[89],"to":[90,96],"real-world":[91],"applications":[93],"scales":[95],"large":[98],"3D":[99],"environments.":[100,130],"To":[101],"evaluate":[102],"Lamb,":[103],"construct":[105],"set":[107],"tasks":[109],"illustrate":[111],"complex":[113,150],"interplay":[114],"between":[115],"movability":[119],"can":[121],"arise":[122],"in":[123,128],"mobile":[124],"base":[125],"manipulation":[126,151],"problems":[127,152],"unknown":[129],"show":[132],"outperforms":[135],"approaches":[141],"as":[142,144],"well":[143],"combinations":[146],"them":[148],"with":[153],"partial":[154],"observability.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2023-07-05T00:00:00"}