{"id":"https://openalex.org/W1988737313","doi":"https://doi.org/10.1109/coase.2014.6899341","title":"Risk-aware path planning using hirerachical constrained Markov Decision Processes","display_name":"Risk-aware path planning using hirerachical constrained Markov Decision Processes","publication_year":2014,"publication_date":"2014-08-01","ids":{"openalex":"https://openalex.org/W1988737313","doi":"https://doi.org/10.1109/coase.2014.6899341","mag":"1988737313"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2014.6899341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2014.6899341","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5030573297","display_name":"Seyedshams Feyzabadi","orcid":null},"institutions":[{"id":"https://openalex.org/I156087764","display_name":"University of California, Merced","ror":"https://ror.org/00d9ah105","country_code":"US","type":"education","lineage":["https://openalex.org/I156087764"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seyedshams Feyzabadi","raw_affiliation_strings":["School of Engineering, University of California, Merced, CA, USA","School of Engineering University of California Merced USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, University of California, Merced, CA, USA","institution_ids":["https://openalex.org/I156087764"]},{"raw_affiliation_string":"School of Engineering University of California Merced USA","institution_ids":["https://openalex.org/I156087764"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081177797","display_name":"Stefano Carpin","orcid":"https://orcid.org/0000-0003-3837-7463"},"institutions":[{"id":"https://openalex.org/I156087764","display_name":"University of California, Merced","ror":"https://ror.org/00d9ah105","country_code":"US","type":"education","lineage":["https://openalex.org/I156087764"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefano Carpin","raw_affiliation_strings":["School of Engineering, University of California, Merced, CA, USA","School of Engineering University of California Merced USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, University of California, Merced, CA, USA","institution_ids":["https://openalex.org/I156087764"]},{"raw_affiliation_string":"School of Engineering University of California Merced USA","institution_ids":["https://openalex.org/I156087764"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I156087764"],"apc_list":null,"apc_paid":null,"fwci":2.8768,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.9479689,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"297","last_page":"303"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/motion-planning","display_name":"Motion planning","score":0.7585418820381165},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.7358196377754211},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7185311317443848},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6141481399536133},{"id":"https://openalex.org/keywords/factory","display_name":"Factory (object-oriented programming)","score":0.5182178616523743},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5081498622894287},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.49771955609321594},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4936133623123169},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.47526973485946655},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.4680929481983185},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.4665481746196747},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4129363000392914},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3361784815788269},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.23829025030136108},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10999193787574768}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7585418820381165},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.7358196377754211},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7185311317443848},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6141481399536133},{"id":"https://openalex.org/C40149104","wikidata":"https://www.wikidata.org/wiki/Q5620977","display_name":"Factory (object-oriented programming)","level":2,"score":0.5182178616523743},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5081498622894287},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.49771955609321594},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4936133623123169},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.47526973485946655},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.4680929481983185},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.4665481746196747},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4129363000392914},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3361784815788269},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.23829025030136108},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10999193787574768},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/coase.2014.6899341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2014.6899341","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.654.8137","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.654.8137","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robotics.ucmerced.edu/sites/robotics.ucmerced.edu/files/page/documents/case2014.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1516027685","https://openalex.org/W1518931405","https://openalex.org/W1594216983","https://openalex.org/W1631187438","https://openalex.org/W1823979212","https://openalex.org/W1971086298","https://openalex.org/W1979743043","https://openalex.org/W2012136789","https://openalex.org/W2093298018","https://openalex.org/W2094544836","https://openalex.org/W2098432798","https://openalex.org/W2105289524","https://openalex.org/W2108400488","https://openalex.org/W2110016544","https://openalex.org/W2156269940","https://openalex.org/W2225974540","https://openalex.org/W2603840577","https://openalex.org/W2611243847","https://openalex.org/W6636614537","https://openalex.org/W6676641049","https://openalex.org/W6682855959","https://openalex.org/W6689337587"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966","https://openalex.org/W187740018","https://openalex.org/W2162286586"],"abstract_inverted_index":{"Next":[0],"generation":[1],"industrial":[2],"plants":[3],"will":[4],"feature":[5],"mobile":[6],"robots":[7,20],"(e.g.,":[8],"autonomous":[9],"forklifts)":[10],"moving":[11],"side":[12,14],"by":[13],"with":[15,103],"humans.":[16],"In":[17,31],"these":[18],"scenarios,":[19],"must":[21,27],"not":[22],"only":[23],"maximize":[24],"efficiency,":[25],"but":[26,88],"also":[28],"mitigate":[29],"risks.":[30],"this":[32],"paper":[33],"we":[34,80],"study":[35],"the":[36,43,64,74,99,104],"problem":[37,44],"of":[38,45,66,78],"risk-aware":[39],"path":[40],"planning,":[41],"i.e.,":[42],"computing":[46],"shortest":[47],"paths":[48],"in":[49,94],"stochastic":[50],"environments":[51,96],"while":[52],"ensuring":[53],"that":[54,85],"average":[55],"risk":[56],"is":[57,61,86],"bounded.":[58],"Our":[59],"method":[60,84,101],"based":[62],"on":[63],"framework":[65],"constrained":[67],"Markov":[68],"Decision":[69],"Processes":[70],"(CMDP).":[71],"To":[72],"counterbalance":[73],"intrinsic":[75],"computational":[76],"complexity":[77],"CMDPs,":[79],"propose":[81],"a":[82],"hierarchical":[83,100,106],"suboptimal":[87],"obtains":[89],"significant":[90],"speedups.":[91],"Simulation":[92],"results":[93],"factory-like":[95],"illustrate":[97],"how":[98],"compares":[102],"non":[105],"one.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
