{"id":"https://openalex.org/W2522156400","doi":"https://doi.org/10.1109/cdc.2016.7799034","title":"Incremental sampling-based motion planners using policy iteration methods","display_name":"Incremental sampling-based motion planners using policy iteration methods","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2522156400","doi":"https://doi.org/10.1109/cdc.2016.7799034","mag":"2522156400"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2016.7799034","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7799034","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1609.05960","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005508766","display_name":"Oktay Arslan","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Oktay Arslan","raw_affiliation_strings":["Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","Jet Propulsion Laboratory at the California Institute of Technology, Pasadena, 91109-8099, USA"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory at the California Institute of Technology, Pasadena, 91109-8099, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077667229","display_name":"Panagiotis Tsiotras","orcid":"https://orcid.org/0000-0001-7563-4129"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Panagiotis Tsiotras","raw_affiliation_strings":["Faculty of D. Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","Faculty of D. Guggenheim School of Aerospace Engineering at the Georgia Institute of Technology, Atlanta, 30332-0150, USA"],"affiliations":[{"raw_affiliation_string":"Faculty of D. Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Faculty of D. Guggenheim School of Aerospace Engineering at the Georgia Institute of Technology, Atlanta, 30332-0150, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5005508766"],"corresponding_institution_ids":["https://openalex.org/I130701444","https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.09172811,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"5004","last_page":"5009"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9954000115394592,"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/T12288","display_name":"Optimization and Search Problems","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/dynamic-programming","display_name":"Dynamic programming","score":0.614719033241272},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5904335379600525},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5413209795951843},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5016839504241943},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.4911453425884247},{"id":"https://openalex.org/keywords/asymptotically-optimal-algorithm","display_name":"Asymptotically optimal algorithm","score":0.43283629417419434},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.42666637897491455},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4171701669692993},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.415641725063324},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.41045165061950684},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38623499870300293},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1997949779033661},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08545336127281189}],"concepts":[{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.614719033241272},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5904335379600525},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5413209795951843},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5016839504241943},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.4911453425884247},{"id":"https://openalex.org/C181789720","wikidata":"https://www.wikidata.org/wiki/Q4812191","display_name":"Asymptotically optimal algorithm","level":2,"score":0.43283629417419434},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.42666637897491455},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4171701669692993},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.415641725063324},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.41045165061950684},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38623499870300293},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1997949779033661},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08545336127281189},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/cdc.2016.7799034","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7799034","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1609.05960","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1609.05960","pdf_url":"https://arxiv.org/pdf/1609.05960","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"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":"text"},{"id":"mag:2522156400","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1609.05960.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1609.05960","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1609.05960","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1609.05960","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1609.05960","pdf_url":"https://arxiv.org/pdf/1609.05960","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"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":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2522156400.pdf","grobid_xml":"https://content.openalex.org/works/W2522156400.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W630423399","https://openalex.org/W1424654272","https://openalex.org/W1583541992","https://openalex.org/W1814533834","https://openalex.org/W1864112212","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W2000359213","https://openalex.org/W2020677283","https://openalex.org/W2066918959","https://openalex.org/W2071401582","https://openalex.org/W2084501107","https://openalex.org/W2128990851","https://openalex.org/W2169528473","https://openalex.org/W2294808847","https://openalex.org/W2399458908","https://openalex.org/W2611243847","https://openalex.org/W2963222163","https://openalex.org/W3021035068","https://openalex.org/W3103346840","https://openalex.org/W3104753760","https://openalex.org/W6675282069"],"related_works":["https://openalex.org/W2256834406","https://openalex.org/W2949623849","https://openalex.org/W2146054099","https://openalex.org/W2163788280","https://openalex.org/W2001949479","https://openalex.org/W71293749","https://openalex.org/W2770134246","https://openalex.org/W1573058882","https://openalex.org/W3002604352","https://openalex.org/W2903912360","https://openalex.org/W3140751117","https://openalex.org/W2556411342","https://openalex.org/W2885774179","https://openalex.org/W2049687735","https://openalex.org/W2000766964","https://openalex.org/W3094846619","https://openalex.org/W3032367597","https://openalex.org/W2107855892","https://openalex.org/W2947501667","https://openalex.org/W2963481133"],"abstract_inverted_index":{"Recent":[0],"progress":[1],"in":[2],"randomized":[3],"motion":[4],"planning":[5],"has":[6],"led":[7],"to":[8,52],"the":[9,26],"development":[10],"of":[11,15,65,75,95],"a":[12,72],"new":[13],"class":[14,74],"sampling-based":[16],"algorithms":[17,78],"that":[18,99],"provide":[19],"asymptotic":[20],"optimality":[21],"guarantees,":[22],"almost":[23],"surely,":[24],"notably":[25],"RRT*":[27,55],"algorithm":[28,35],"among":[29],"others.":[30],"The":[31],"recently":[32],"proposed":[33],"RRT#":[34],"utilizes":[36],"dynamic":[37,76],"programming":[38,77],"ideas":[39],"(namely,":[40],"asynchronous":[41],"value":[42,96],"iteration)":[43],"and":[44,56,98],"implements":[45],"them":[46],"incrementally":[47],"on":[48,54,83],"randomly":[49],"generated":[50,86],"graphs":[51,85],"improve":[53],"thus":[57],"obtain":[58],"high":[59],"quality":[60],"solutions":[61],"with":[62],"enhanced":[63],"rates":[64],"convergence.":[66],"In":[67],"this":[68],"work":[69],"we":[70],"explore":[71],"different":[73],"for":[79,103],"solving":[80],"shortest-path":[81],"problems":[82],"random":[84],"by":[87],"iterative":[88],"sampling,":[89],"which":[90],"utilize":[91],"policy":[92],"iteration":[93,97],"instead":[94],"are":[100],"better":[101],"suited":[102],"massive":[104],"parallelization.":[105]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
