{"id":"https://openalex.org/W1973594680","doi":"https://doi.org/10.1007/bf01586637","title":"Provably good approximation algorithms for optimal kinodynamic planning for Cartesian robots and open-chain manipulators","display_name":"Provably good approximation algorithms for optimal kinodynamic planning for Cartesian robots and open-chain manipulators","publication_year":1995,"publication_date":"1995-12-01","ids":{"openalex":"https://openalex.org/W1973594680","doi":"https://doi.org/10.1007/bf01586637","mag":"1973594680"},"language":"en","primary_location":{"id":"doi:10.1007/bf01586637","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bf01586637","pdf_url":null,"source":{"id":"https://openalex.org/S89324355","display_name":"Algorithmica","issn_l":"0178-4617","issn":["0178-4617","1432-0541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithmica","raw_type":"journal-article"},"type":"article","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/A5046723017","display_name":"Bruce R. Donald","orcid":"https://orcid.org/0000-0001-6884-4398"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. R. Donald","raw_affiliation_strings":["Department of Computer Science, Cornell University, 14853-7501, Ithaca, NY, USA","Department of Computer Science, Cornell-University, Ithaca, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Cornell University, 14853-7501, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Department of Computer Science, Cornell-University, Ithaca, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109890051","display_name":"Patrick Xavier","orcid":null},"institutions":[{"id":"https://openalex.org/I192454743","display_name":"Sandia National Laboratories California","ror":"https://ror.org/058m7ey48","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I1330989302","https://openalex.org/I192454743","https://openalex.org/I198811213","https://openalex.org/I198811213","https://openalex.org/I4210104735"]},{"id":"https://openalex.org/I4210104735","display_name":"Sandia National Laboratories","ror":"https://ror.org/01apwpt12","country_code":"US","type":"facility","lineage":["https://openalex.org/I1330989302","https://openalex.org/I198811213","https://openalex.org/I4210104735"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P. G. Xavier","raw_affiliation_strings":["Sandia National Laboratories, 87185-0951, Albuquerque, NM, USA","[Sandia National Laboratories, Albuquerque, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sandia National Laboratories, 87185-0951, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I4210104735"]},{"raw_affiliation_string":"[Sandia National Laboratories, Albuquerque, USA]","institution_ids":["https://openalex.org/I192454743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2290,"currency":"EUR","value_usd":2890},"apc_paid":null,"fwci":1.473,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.82412005,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"14","issue":"6","first_page":"480","last_page":"530"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9961000084877014,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9843000173568726,"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/revolute-joint","display_name":"Revolute joint","score":0.7488732933998108},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.548672080039978},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5053587555885315},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.49257880449295044},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.4819902777671814},{"id":"https://openalex.org/keywords/time-complexity","display_name":"Time complexity","score":0.46921101212501526},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.458426833152771},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42091548442840576},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.4181508421897888},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4087039828300476},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40466827154159546},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3827917277812958},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32173633575439453},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16755768656730652}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.7488732933998108},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.548672080039978},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5053587555885315},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.49257880449295044},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.4819902777671814},{"id":"https://openalex.org/C311688","wikidata":"https://www.wikidata.org/wiki/Q2393193","display_name":"Time complexity","level":2,"score":0.46921101212501526},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.458426833152771},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42091548442840576},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.4181508421897888},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4087039828300476},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40466827154159546},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3827917277812958},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32173633575439453},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16755768656730652},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1007/bf01586637","is_oa":false,"landing_page_url":"https://doi.org/10.1007/bf01586637","pdf_url":null,"source":{"id":"https://openalex.org/S89324355","display_name":"Algorithmica","issn_l":"0178-4617","issn":["0178-4617","1432-0541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithmica","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.110.8107","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.110.8107","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.duke.edu/~brd/papers/www-f/algorithmica-1.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.113.6508","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.113.6508","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.duke.edu/~brd/papers/www-f/algorithmica-2.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.50.1191","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.50.1191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ftp://ftp.cs.cornell.edu/pub/brd/algorithmica-2.ps.Z","raw_type":"text"},{"id":"pmh:oai:ecommons.cornell.edu:1813/6935","is_oa":false,"landing_page_url":"https://hdl.handle.net/1813/6935","pdf_url":null,"source":{"id":"https://openalex.org/S4306400757","display_name":"eCommons (Cornell University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"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":"technical report"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W62898964","https://openalex.org/W1494464587","https://openalex.org/W1516027685","https://openalex.org/W1533469812","https://openalex.org/W1966568196","https://openalex.org/W1973594680","https://openalex.org/W1986329093","https://openalex.org/W1988180281","https://openalex.org/W2048820947","https://openalex.org/W2065283065","https://openalex.org/W2090959114","https://openalex.org/W2098258465","https://openalex.org/W2102203318","https://openalex.org/W2111734814","https://openalex.org/W2113366603","https://openalex.org/W2115243734","https://openalex.org/W2120628398","https://openalex.org/W2142578141","https://openalex.org/W2150224551","https://openalex.org/W2150500908","https://openalex.org/W2156708479","https://openalex.org/W2158410369","https://openalex.org/W2161960189","https://openalex.org/W2170120409","https://openalex.org/W2569641373","https://openalex.org/W2610796673","https://openalex.org/W4299512672","https://openalex.org/W6630827198","https://openalex.org/W6651594373","https://openalex.org/W6683830650","https://openalex.org/W6731868475"],"related_works":["https://openalex.org/W2883550785","https://openalex.org/W2890977713","https://openalex.org/W2123089778","https://openalex.org/W1980749193","https://openalex.org/W2899776278","https://openalex.org/W2116626317","https://openalex.org/W2790463165","https://openalex.org/W2065877964","https://openalex.org/W2051473190","https://openalex.org/W3203991670"],"abstract_inverted_index":null,"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-16T07:32:37.131356","created_date":"2025-10-10T00:00:00"}