{"id":"https://openalex.org/W2569270512","doi":"https://doi.org/10.1109/cdc.2016.7799298","title":"Scalable lazy SMT-based motion planning","display_name":"Scalable lazy SMT-based motion planning","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2569270512","doi":"https://doi.org/10.1109/cdc.2016.7799298","mag":"2569270512"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2016.7799298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7799298","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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://escholarship.org/content/qt8z44m3zx/qt8z44m3zx.pdf?t=qtclqu","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019844918","display_name":"Yasser Shoukry","orcid":"https://orcid.org/0000-0002-8224-8477"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yasser Shoukry","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA","Department of Electrical Engineering, University of California, Los Angeles, CA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of California, Los Angeles, CA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067636168","display_name":"Pierluigi Nuzzo","orcid":"https://orcid.org/0000-0003-2984-0364"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pierluigi Nuzzo","raw_affiliation_strings":["Department of Electrical Engineering, University of Southern California, Los Angeles, CA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Southern California, Los Angeles, CA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011191138","display_name":"Indranil Saha","orcid":"https://orcid.org/0000-0002-1329-8286"},"institutions":[{"id":"https://openalex.org/I94234084","display_name":"Indian Institute of Technology Kanpur","ror":"https://ror.org/05pjsgx75","country_code":"IN","type":"education","lineage":["https://openalex.org/I94234084"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Indranil Saha","raw_affiliation_strings":["Department of Computer Science and Engineering, Indian Institute of Technology, Kanpur, India"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Indian Institute of Technology, Kanpur, India","institution_ids":["https://openalex.org/I94234084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088660554","display_name":"Alberto Sangiovanni\u2010Vincentelli","orcid":"https://orcid.org/0000-0003-1298-8389"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alberto L. Sangiovanni-Vincentelli","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064230639","display_name":"Sanjit A. Seshia","orcid":"https://orcid.org/0000-0001-6190-8707"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sanjit A. Seshia","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029243115","display_name":"George J. Pappas","orcid":"https://orcid.org/0000-0001-9081-0637"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George J. Pappas","raw_affiliation_strings":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047674203","display_name":"Paulo Tabuada","orcid":"https://orcid.org/0000-0002-3417-0951"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paulo Tabuada","raw_affiliation_strings":["Department of Electrical Engineering, University of California, Los Angeles, CA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of California, Los Angeles, CA","institution_ids":["https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5019844918"],"corresponding_institution_ids":["https://openalex.org/I161318765","https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":6.1415,"has_fulltext":true,"cited_by_count":32,"citation_normalized_percentile":{"value":0.96573301,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6683","last_page":"6688"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9916999936103821,"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/workspace","display_name":"Workspace","score":0.7694851160049438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.67353355884552},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.655744731426239},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.6377986669540405},{"id":"https://openalex.org/keywords/polyhedron","display_name":"Polyhedron","score":0.6359354257583618},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5938860177993774},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5370745658874512},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5092123746871948},{"id":"https://openalex.org/keywords/satisfiability","display_name":"Satisfiability","score":0.47163745760917664},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.4422784447669983},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4351639449596405},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3562132716178894},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24168893694877625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2186082899570465}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7694851160049438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.67353355884552},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.655744731426239},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.6377986669540405},{"id":"https://openalex.org/C54829058","wikidata":"https://www.wikidata.org/wiki/Q172937","display_name":"Polyhedron","level":2,"score":0.6359354257583618},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5938860177993774},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5370745658874512},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5092123746871948},{"id":"https://openalex.org/C168773769","wikidata":"https://www.wikidata.org/wiki/Q1350299","display_name":"Satisfiability","level":2,"score":0.47163745760917664},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.4422784447669983},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4351639449596405},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3562132716178894},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24168893694877625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2186082899570465},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc.2016.7799298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7799298","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:escholarship.org:ark:/13030/qt8z44m3zx","is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/8z44m3zx","pdf_url":"https://escholarship.org/content/qt8z44m3zx/qt8z44m3zx.pdf?t=qtclqu","source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"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":"article"},{"id":"pmh:ark:/13030/qt8z44m3zx","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:escholarship.org:ark:/13030/qt8z44m3zx","is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/8z44m3zx","pdf_url":"https://escholarship.org/content/qt8z44m3zx/qt8z44m3zx.pdf?t=qtclqu","source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"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":"article"},"sustainable_development_goals":[{"score":0.7400000095367432,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G5613224033","display_name":null,"funder_award_id":"STARnet","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306087","display_name":"Semiconductor Research Corporation","ror":"https://ror.org/047z4n946"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2569270512.pdf","grobid_xml":"https://content.openalex.org/works/W2569270512.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W5815757","https://openalex.org/W84777833","https://openalex.org/W1515174179","https://openalex.org/W1970269621","https://openalex.org/W1980088782","https://openalex.org/W1991698050","https://openalex.org/W2000359213","https://openalex.org/W2006625750","https://openalex.org/W2023808162","https://openalex.org/W2026290247","https://openalex.org/W2044323243","https://openalex.org/W2056864430","https://openalex.org/W2064572756","https://openalex.org/W2068581168","https://openalex.org/W2071797744","https://openalex.org/W2091682553","https://openalex.org/W2095981630","https://openalex.org/W2104241562","https://openalex.org/W2106473816","https://openalex.org/W2106816694","https://openalex.org/W2133094064","https://openalex.org/W2143760481","https://openalex.org/W2144588269","https://openalex.org/W2150335178","https://openalex.org/W2151958719","https://openalex.org/W2288387612","https://openalex.org/W6603455974","https://openalex.org/W6656813471","https://openalex.org/W6676022314","https://openalex.org/W6679403131","https://openalex.org/W7062022895"],"related_works":["https://openalex.org/W2107702345","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W2389713625","https://openalex.org/W4308217561","https://openalex.org/W2134348961","https://openalex.org/W2115192598","https://openalex.org/W2116162693","https://openalex.org/W2160419405"],"abstract_inverted_index":{"We":[0,11],"present":[1],"a":[2,13,22,26,31,48,118,133,155,176,195,200],"scalable":[3],"robot":[4,19,58,238],"motion":[5],"planning":[6,100],"algorithm":[7,225],"for":[8,191,234],"reach-avoid":[9],"problems.":[10],"assume":[12],"discrete-time,":[14],"linear":[15],"model":[16],"of":[17,28,77,85,122,135,147,194,202,213],"the":[18,36,39,51,57,64,75,78,86,92,99,123,141,148,162,166,192,203,209],"dynamics":[20,164,239],"and":[21,30,38,50,165,169,231],"workspace":[23,124,218],"described":[24],"by":[25,91,198],"set":[27,134],"obstacles":[29,37],"target":[32,65],"region,":[33],"where":[34],"both":[35,161],"region":[40],"are":[41,173],"polyhedra.":[42],"Our":[43],"goal":[44],"is":[45,151,179],"to":[46,63,125,187,242],"construct":[47],"trajectory,":[49],"associated":[52],"control":[53,167],"strategy,":[54],"that":[55,131,206,223],"steers":[56],"from":[59,70],"its":[60],"initial":[61],"point":[62],"while":[66,138],"avoiding":[67],"obstacles.":[68],"Differently":[69],"previous":[71],"approaches,":[72],"based":[73],"on":[74,160],"discretization":[76,84,121],"continuous":[79,143,244],"state":[80],"space":[81],"or":[82],"uniform":[83],"workspace,":[87],"our":[88,224],"approach,":[89],"inspired":[90],"lazy":[93],"satisfiability":[94],"modulo":[95],"theory":[96],"paradigm,":[97],"decomposes":[98],"problem":[101],"into":[102],"smaller":[103],"subproblems,":[104],"which":[105],"can":[106],"be":[107],"efficiently":[108],"solved":[109],"using":[110],"specialized":[111],"solvers.":[112],"At":[113],"each":[114],"iteration,":[115],"we":[116,184],"use":[117],"coarse,":[119],"obstacle-based":[120],"obtain":[126],"candidate":[127,171],"high-level,":[128],"discrete":[129,196],"plans":[130,150,172],"solve":[132],"Boolean":[136],"constraints,":[137],"completely":[139],"abstracting":[140],"low-level":[142],"dynamics.":[144],"The":[145],"feasibility":[146],"proposed":[149],"then":[152],"checked":[153],"via":[154],"convex":[156,204],"program,":[157],"under":[158],"constraints":[159],"system":[163],"inputs,":[168],"new":[170],"generated":[174],"until":[175],"feasible":[177],"one":[178],"found.":[180],"To":[181],"achieve":[182],"scalability,":[183],"show":[185,222],"how":[186],"generate":[188],"succinct":[189],"explanations":[190],"infeasibility":[193],"plan":[197],"exploiting":[199],"relaxation":[201],"program":[205],"allows":[207],"detecting":[208],"earliest":[210],"possible":[211],"occurrence":[212],"an":[214],"infeasible":[215],"transition":[216],"between":[217],"regions.":[219],"Simulation":[220],"results":[221],"favorably":[226],"compares":[227],"with":[228,240],"state-of-the-art":[229],"techniques":[230],"scales":[232],"well":[233],"complex":[235],"systems,":[236],"including":[237],"up":[241],"50":[243],"states.":[245]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}