{"id":"https://openalex.org/W2101630961","doi":"https://doi.org/10.1109/icra.2011.5979797","title":"Addressing cost-space chasms in manipulation planning","display_name":"Addressing cost-space chasms in manipulation planning","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2101630961","doi":"https://doi.org/10.1109/icra.2011.5979797","mag":"2101630961"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979797","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979797","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"preprint","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/A5083082888","display_name":"Dmitry Berenson","orcid":"https://orcid.org/0000-0002-9712-109X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dmitry Berenson","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053083218","display_name":"Thierry Sim\u00e9on","orcid":"https://orcid.org/0000-0001-9815-753X"},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Thierry Simeon","raw_affiliation_strings":["CNRS, LAAS, UPS, INSA, INP, ISAE, Universit\u00e9 de Toulouse, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, UPS, INSA, INP, ISAE, Universit\u00e9 de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddhartha S. Srinivasa","raw_affiliation_strings":["INTEL, Research Laboratory, Pittsburgh, PA, USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"INTEL, Research Laboratory, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I1343180700"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5083082888"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":5.88349189,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.96999915,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"3","issue":null,"first_page":"4561","last_page":"4568"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.7283942699432373},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6580909490585327},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6567107439041138},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6537361145019531},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5618781447410583},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.558032751083374},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.49236953258514404},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.47045671939849854},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.46723610162734985},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4508957862854004},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37637126445770264},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3016619086265564},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30120205879211426},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22593191266059875},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12733492255210876},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.09996640682220459}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7283942699432373},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6580909490585327},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6567107439041138},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6537361145019531},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5618781447410583},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.558032751083374},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.49236953258514404},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.47045671939849854},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.46723610162734985},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4508957862854004},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37637126445770264},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3016619086265564},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30120205879211426},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22593191266059875},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12733492255210876},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.09996640682220459},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5979797","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979797","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7300000190734863,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1531168033","https://openalex.org/W1820924839","https://openalex.org/W1939926247","https://openalex.org/W2023905012","https://openalex.org/W2034801091","https://openalex.org/W2045851525","https://openalex.org/W2046213647","https://openalex.org/W2099893201","https://openalex.org/W2109212155","https://openalex.org/W2110612452","https://openalex.org/W2112474089","https://openalex.org/W2118356379","https://openalex.org/W2121196671","https://openalex.org/W2128677288","https://openalex.org/W2134447392","https://openalex.org/W2135677376","https://openalex.org/W2140717964","https://openalex.org/W2141664020","https://openalex.org/W2143826757","https://openalex.org/W2145778183","https://openalex.org/W2152128591","https://openalex.org/W2152828142","https://openalex.org/W2167348159","https://openalex.org/W2296385533","https://openalex.org/W6656187015","https://openalex.org/W6682124187"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W3154539612"],"abstract_inverted_index":{"Finding":[0],"paths":[1,188],"in":[2,17,34,80,153,165,198],"high-dimensional":[3,35],"spaces":[4,37],"becomes":[5],"difficult":[6],"when":[7],"we":[8,210],"wish":[9],"to":[10,19,32,42,58,111,133,196,205],"optimize":[11],"the":[12,24,52,60,99,104,113,140,168,171,185,207,222],"cost":[13,36,87,150,169,186],"of":[14,48,142,167,170,187,215],"a":[15,30,46,107,199,213,218],"path":[16,173],"addition":[18],"obeying":[20],"feasibility":[21],"constraints.":[22],"Recently":[23],"T-RRT":[25,53,105,143,164],"algorithm":[26],"was":[27,40],"presented":[28],"as":[29],"method":[31,110],"plan":[33],"and":[38,144,157],"it":[39,62,125,203],"shown":[41],"perform":[43],"well":[44],"across":[45],"variety":[47],"problems.":[49],"However,":[50],"since":[51],"relies":[54],"solely":[55],"on":[56,146,217,221],"sampling":[57,136],"explore":[59,134],"space,":[61,156],"has":[63],"difficulty":[64],"navigating":[65,122],"cost-space":[66],"chasms":[67,76,123],"narrow":[68,90,132],"low-cost":[69,94,127],"regions":[70,128],"surrounded":[71],"by":[72,135,190],"increasing":[73],"cost.":[74],"Such":[75],"are":[77,130],"particularly":[78],"common":[79],"planning":[81,147],"for":[82],"manipulators":[83],"because":[84,124],"many":[85],"useful":[86],"functions":[88,151],"induce":[89],"or":[91,177],"lower":[92],"dimensional":[93],"areas.":[95],"This":[96],"paper":[97],"presents":[98],"GradienT-RRT":[100,118,145,162,191,216],"algorithm,":[101],"which":[102],"combines":[103],"with":[106,212],"local":[108],"gradient":[109],"bias":[112],"search":[114],"toward":[115],"lower-cost":[116],"regions.":[117],"is":[119,192],"effective":[120],"at":[121],"explores":[126],"that":[129,161,184],"too":[131],"alone.":[137],"We":[138,159,181],"compare":[139],"performance":[141],"problems":[148],"involving":[149],"defined":[152],"workspace,":[154],"task":[155,220],"C-space.":[158],"find":[160,183],"outperforms":[163],"terms":[166],"final":[172],"while":[174],"maintaining":[175],"better":[176],"comparable":[178],"computation":[179],"time.":[180],"also":[182],"generated":[189],"far":[193],"less":[194],"sensitive":[195],"changes":[197],"key":[200],"parameter,":[201],"making":[202],"easier":[204],"tune":[206],"algorithm.":[208],"Finally,":[209],"conclude":[211],"demonstration":[214],"planning-with-uncertainty":[219],"physical":[223],"HFRB":[224],"robot.":[225]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}