{"id":"https://openalex.org/W1586146481","doi":"https://doi.org/10.1007/11008941_9","title":"Probabilistic Roadmaps of Trees for Parallel Computation of Multiple Query Roadmaps","display_name":"Probabilistic Roadmaps of Trees for Parallel Computation of Multiple Query Roadmaps","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W1586146481","doi":"https://doi.org/10.1007/11008941_9","mag":"1586146481"},"language":"en","primary_location":{"id":"doi:10.1007/11008941_9","is_oa":false,"landing_page_url":"https://doi.org/10.1007/11008941_9","pdf_url":null,"source":{"id":"https://openalex.org/S4210185684","display_name":"Springer tracts in advanced robotics","issn_l":"1610-742X","issn":["1610-742X","1610-7438"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Tracts in Advanced Robotics","raw_type":"book-chapter"},"type":"book-chapter","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/A5020668745","display_name":"Mert Akinc","orcid":null},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mert Akinc","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, 77005, USA","**Rice University;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, 77005, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"**Rice University;","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas E. Bekris","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, 77005, USA","**Rice University;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, 77005, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"**Rice University;","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075148092","display_name":"Brain Y. Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brain Y. Chen","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, 77005, USA","**Rice University;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, 77005, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"**Rice University;","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081132779","display_name":"Andrew M. Ladd","orcid":null},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew M. Ladd","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, 77005, USA","**Rice University;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, 77005, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"**Rice University;","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017823298","display_name":"Erion Plaku","orcid":"https://orcid.org/0000-0001-5605-4575"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erion Plaku","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, 77005, USA","**Rice University;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, 77005, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"**Rice University;","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067205988","display_name":"Lydia E. Kavraki","orcid":"https://orcid.org/0000-0003-0699-8038"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lydia E. Kavraki","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, 77005, USA","**Rice University;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, 77005, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"**Rice University;","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74775410"],"apc_list":null,"apc_paid":null,"fwci":9.6405,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.99155637,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"80","last_page":"89"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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":0.9991999864578247,"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9904999732971191,"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/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.7675443887710571},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7359408736228943},{"id":"https://openalex.org/keywords/query-optimization","display_name":"Query optimization","score":0.6380344033241272},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.5288553833961487},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5115054845809937},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.470562219619751},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.4433775246143341},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43695589900016785},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.43008261919021606},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3697407841682434},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3522953391075134},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23124799132347107},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1334916353225708},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09551402926445007}],"concepts":[{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.7675443887710571},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7359408736228943},{"id":"https://openalex.org/C157692150","wikidata":"https://www.wikidata.org/wiki/Q2919848","display_name":"Query optimization","level":2,"score":0.6380344033241272},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.5288553833961487},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5115054845809937},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.470562219619751},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.4433775246143341},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43695589900016785},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.43008261919021606},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3697407841682434},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3522953391075134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23124799132347107},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1334916353225708},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09551402926445007},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1007/11008941_9","is_oa":false,"landing_page_url":"https://doi.org/10.1007/11008941_9","pdf_url":null,"source":{"id":"https://openalex.org/S4210185684","display_name":"Springer tracts in advanced robotics","issn_l":"1610-742X","issn":["1610-742X","1610-7438"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Tracts in Advanced Robotics","raw_type":"book-chapter"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.10.2598","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.10.2598","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.rice.edu/CS/Robotics/papers/././akinc2003prt-parallel-computation.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.640.2071","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.640.2071","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.kavrakilab.org/sites/default/files/PaperISRR_SRT-h.pdf","raw_type":"text"},{"id":"pmh:oai:alma.01RUT_INST:11665232980004646","is_oa":false,"landing_page_url":"https://scholarship.libraries.rutgers.edu/esploro/outputs/bookChapter/Probabilistic-Roadmaps-of-Trees-for-Parallel/991031666242104646","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Book Section"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7300000190734863,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1558181355","https://openalex.org/W1566800662","https://openalex.org/W1977708375","https://openalex.org/W1978301848","https://openalex.org/W2021118704","https://openalex.org/W2036016432","https://openalex.org/W2053913299","https://openalex.org/W2083669917","https://openalex.org/W2087663875","https://openalex.org/W2113525359","https://openalex.org/W2128990851","https://openalex.org/W2154574107","https://openalex.org/W2159524963","https://openalex.org/W2159791647","https://openalex.org/W2161455936","https://openalex.org/W2175383612","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2137520303","https://openalex.org/W2107702345","https://openalex.org/W2381469031","https://openalex.org/W4308217561","https://openalex.org/W2364686755","https://openalex.org/W2156459680","https://openalex.org/W2389713625","https://openalex.org/W2139398425","https://openalex.org/W2358841807","https://openalex.org/W1963579952"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}