{"id":"https://openalex.org/W2990060007","doi":"https://doi.org/10.1007/978-3-030-28619-4_62","title":"Decoupling Constraints from Sampling-Based Planners","display_name":"Decoupling Constraints from Sampling-Based Planners","publication_year":2019,"publication_date":"2019-11-27","ids":{"openalex":"https://openalex.org/W2990060007","doi":"https://doi.org/10.1007/978-3-030-28619-4_62","mag":"2990060007"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-030-28619-4_62","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-28619-4_62","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings 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/A5088789391","display_name":"Zachary Kingston","orcid":"https://orcid.org/0000-0002-3896-5110"},"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":true,"raw_author_name":"Zachary Kingston","raw_affiliation_strings":["Rice University, 6100 Main Street, Houston, TX, 77005, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rice University, 6100 Main Street, Houston, TX, 77005, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061397940","display_name":"Mark Moll","orcid":"https://orcid.org/0000-0002-0451-2797"},"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":"Mark Moll","raw_affiliation_strings":["Rice University, 6100 Main Street, Houston, TX, 77005, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rice University, 6100 Main Street, Houston, TX, 77005, USA","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":["Rice University, 6100 Main Street, Houston, TX, 77005, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rice University, 6100 Main Street, Houston, TX, 77005, USA","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5088789391"],"corresponding_institution_ids":["https://openalex.org/I74775410"],"apc_list":null,"apc_paid":null,"fwci":7.3478,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.97560976,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"913","last_page":"928"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9944999814033508,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9923999905586243,"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/constraint-satisfaction","display_name":"Constraint satisfaction","score":0.6728966236114502},{"id":"https://openalex.org/keywords/constraint-satisfaction-problem","display_name":"Constraint satisfaction problem","score":0.6699034571647644},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6603094935417175},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.6020755171775818},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5962467193603516},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5303968191146851},{"id":"https://openalex.org/keywords/constraint-learning","display_name":"Constraint learning","score":0.5259454846382141},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5110288858413696},{"id":"https://openalex.org/keywords/constraint-satisfaction-dual-problem","display_name":"Constraint satisfaction dual problem","score":0.4841773808002472},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2978150546550751},{"id":"https://openalex.org/keywords/local-consistency","display_name":"Local consistency","score":0.2774333953857422},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17672374844551086},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17522266507148743},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.11990126967430115}],"concepts":[{"id":"https://openalex.org/C44616089","wikidata":"https://www.wikidata.org/wiki/Q30158686","display_name":"Constraint satisfaction","level":3,"score":0.6728966236114502},{"id":"https://openalex.org/C199622910","wikidata":"https://www.wikidata.org/wiki/Q1128326","display_name":"Constraint satisfaction problem","level":3,"score":0.6699034571647644},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6603094935417175},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.6020755171775818},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5962467193603516},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5303968191146851},{"id":"https://openalex.org/C29230964","wikidata":"https://www.wikidata.org/wiki/Q5164376","display_name":"Constraint learning","level":5,"score":0.5259454846382141},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5110288858413696},{"id":"https://openalex.org/C183046576","wikidata":"https://www.wikidata.org/wiki/Q5164380","display_name":"Constraint satisfaction dual problem","level":5,"score":0.4841773808002472},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2978150546550751},{"id":"https://openalex.org/C137105694","wikidata":"https://www.wikidata.org/wiki/Q3407510","display_name":"Local consistency","level":4,"score":0.2774333953857422},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17672374844551086},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17522266507148743},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.11990126967430115},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-030-28619-4_62","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-28619-4_62","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W131797558","https://openalex.org/W240493022","https://openalex.org/W326738931","https://openalex.org/W1256870269","https://openalex.org/W1424654272","https://openalex.org/W1502517891","https://openalex.org/W1516488188","https://openalex.org/W1521785144","https://openalex.org/W1587069887","https://openalex.org/W1814533834","https://openalex.org/W1863997888","https://openalex.org/W1963890921","https://openalex.org/W1968486582","https://openalex.org/W1969775622","https://openalex.org/W1971086298","https://openalex.org/W1976952767","https://openalex.org/W2000359213","https://openalex.org/W2001141328","https://openalex.org/W2009124734","https://openalex.org/W2009334861","https://openalex.org/W2018562664","https://openalex.org/W2037841262","https://openalex.org/W2044995998","https://openalex.org/W2059435624","https://openalex.org/W2067484689","https://openalex.org/W2068761489","https://openalex.org/W2072127296","https://openalex.org/W2103776982","https://openalex.org/W2103839635","https://openalex.org/W2105660272","https://openalex.org/W2110612452","https://openalex.org/W2110762409","https://openalex.org/W2112474089","https://openalex.org/W2112994798","https://openalex.org/W2115257338","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2142224528","https://openalex.org/W2150772450","https://openalex.org/W2153628631","https://openalex.org/W2161819990","https://openalex.org/W2163426622","https://openalex.org/W2167348159","https://openalex.org/W2171266831","https://openalex.org/W2217280154","https://openalex.org/W2548498802","https://openalex.org/W2563784145","https://openalex.org/W2611243847","https://openalex.org/W2618140352","https://openalex.org/W2779000981","https://openalex.org/W3103346840","https://openalex.org/W7070221111"],"related_works":["https://openalex.org/W2091348864","https://openalex.org/W2569549435","https://openalex.org/W2784687883","https://openalex.org/W2153863638","https://openalex.org/W1738375116","https://openalex.org/W1503596219","https://openalex.org/W2161128834","https://openalex.org/W2012141606","https://openalex.org/W2137855809","https://openalex.org/W2188549339"],"abstract_inverted_index":null,"counts_by_year":[{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2026-08-04T08:18:43.703281","created_date":"2025-10-10T00:00:00"}