{"id":"https://openalex.org/W2056718993","doi":"https://doi.org/10.1109/icra.2012.6225296","title":"Towards small asymptotically near-optimal roadmaps","display_name":"Towards small asymptotically near-optimal roadmaps","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2056718993","doi":"https://doi.org/10.1109/icra.2012.6225296","mag":"2056718993"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225296","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5084488493","display_name":"James D. Marble","orcid":"https://orcid.org/0009-0006-3870-2771"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James D. Marble","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Nevada, Reno, NV, USA","Department of Computer Science and Engineering, University of Nevada, Reno, 1664 N. Virginia St., MS 171, 89557, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Nevada, Reno, 1664 N. Virginia St., MS 171, 89557, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas E. Bekris","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Nevada, Reno, NV, USA","Department of Computer Science and Engineering, University of Nevada, Reno, 1664 N. Virginia St., MS 171, 89557, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Nevada, Reno, 1664 N. Virginia St., MS 171, 89557, USA","institution_ids":["https://openalex.org/I134113660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I134113660"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"2557","last_page":"2562"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9907000064849854,"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/asymptotically-optimal-algorithm","display_name":"Asymptotically optimal algorithm","score":0.7596151828765869},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6532400846481323},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6501337289810181},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6009405851364136},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5858721137046814},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.522469162940979},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.47068387269973755},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4667171835899353},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2629736065864563},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.219709575176239},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.13958457112312317},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10356992483139038},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.07078874111175537}],"concepts":[{"id":"https://openalex.org/C181789720","wikidata":"https://www.wikidata.org/wiki/Q4812191","display_name":"Asymptotically optimal algorithm","level":2,"score":0.7596151828765869},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6532400846481323},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6501337289810181},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6009405851364136},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5858721137046814},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.522469162940979},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.47068387269973755},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4667171835899353},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2629736065864563},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.219709575176239},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.13958457112312317},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10356992483139038},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.07078874111175537},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","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/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2012.6225296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225296","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:alma.01RUT_INST:11665008260004646","is_oa":false,"landing_page_url":"https://scholarship.libraries.rutgers.edu/esploro/outputs/conferenceProceeding/Towards-small-asymptotically-near-optimal-roadmaps/991031665740604646","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Proceedings"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W157296195","https://openalex.org/W1495392417","https://openalex.org/W1510265196","https://openalex.org/W1515762908","https://openalex.org/W1536373029","https://openalex.org/W1585638810","https://openalex.org/W1597188505","https://openalex.org/W1658011328","https://openalex.org/W1777783943","https://openalex.org/W1969080501","https://openalex.org/W1971086298","https://openalex.org/W2000359213","https://openalex.org/W2002041206","https://openalex.org/W2028945152","https://openalex.org/W2036016432","https://openalex.org/W2096158814","https://openalex.org/W2105248582","https://openalex.org/W2112388515","https://openalex.org/W2127772657","https://openalex.org/W2128990851","https://openalex.org/W2142963440","https://openalex.org/W2144481803","https://openalex.org/W2161473822","https://openalex.org/W2163788280","https://openalex.org/W2165307897","https://openalex.org/W2167366051","https://openalex.org/W2208163925","https://openalex.org/W2294643298","https://openalex.org/W2296385533","https://openalex.org/W2516555774","https://openalex.org/W2546805818","https://openalex.org/W2547222361","https://openalex.org/W2949623849","https://openalex.org/W3006111093","https://openalex.org/W3115270213","https://openalex.org/W4231761369","https://openalex.org/W4245082111","https://openalex.org/W6629573421","https://openalex.org/W6630396903","https://openalex.org/W6631073399","https://openalex.org/W6635682950","https://openalex.org/W6637214438","https://openalex.org/W6638062875","https://openalex.org/W6681441980","https://openalex.org/W6684589822","https://openalex.org/W6697124614","https://openalex.org/W6726385526","https://openalex.org/W6773736804"],"related_works":["https://openalex.org/W1978572805","https://openalex.org/W2383807498","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W4211055164","https://openalex.org/W2288650507"],"abstract_inverted_index":{"An":[0,97],"exciting":[1],"recent":[2],"development":[3],"is":[4,100,103,130],"the":[5,58,91,94,112,122,134,137,149,163],"definition":[6],"of":[7,93,136],"sampling-based":[8],"motion":[9],"planners":[10],"which":[11,65],"guarantee":[12],"asymptotic":[13,73],"optimality.":[14],"Nevertheless,":[15],"roadmaps":[16],"with":[17,139,175],"this":[18],"property":[19],"may":[20],"grow":[21],"too":[22],"large":[23],"and":[24,75],"lead":[25],"to":[26,105,141,177],"longer":[27],"query":[28,158],"resolution":[29,159],"times.":[30,160],"If":[31],"optimality":[32],"requirements":[33],"are":[34],"relaxed,":[35],"existing":[36],"asymptotically":[37],"near-optimal":[38],"solutions":[39],"produce":[40],"sparser":[41],"graphs":[42],"by":[43,115],"removing":[44],"redundant":[45,68],"edges.":[46],"Even":[47],"these":[48,120],"alternatives,":[49],"however,":[50],"include":[51],"all":[52],"sampled":[53],"configurations":[54],"as":[55],"nodes":[56],"in":[57,167],"roadmap.":[59,96],"This":[60],"work":[61],"proposes":[62],"a":[63,107,126],"method,":[64],"can":[66,88],"reject":[67],"samples":[69],"but":[70],"does":[71],"provide":[72],"coverage":[74],"connectivity":[76],"guarantees,":[77],"while":[78],"keeping":[79],"local":[80,142],"path":[81,143,178],"costs":[82],"low.":[83],"Not":[84],"adding":[85],"every":[86],"sample":[87],"significantly":[89],"reduce":[90],"size":[92],"final":[95,164],"additional":[98],"advantage":[99],"that":[101,129,148],"it":[102],"possible":[104],"define":[106],"reasonable":[108],"stopping":[109],"criterion":[110],"for":[111,132,156],"approach":[113],"inspired":[114],"previous":[116],"methods.":[117],"To":[118],"achieve":[119],"objectives,":[121],"proposed":[123],"method":[124,150],"maintains":[125],"dense":[127],"graph":[128],"used":[131],"evaluating":[133],"performance":[135],"roadmap":[138],"regards":[140,176],"costs.":[144],"Experimental":[145],"results":[146,166],"show":[147],"indeed":[151],"provides":[152],"small":[153],"roadmaps,":[154],"allowing":[155],"shorter":[157],"Furthermore,":[161],"smoothing":[162],"paths":[165],"an":[168],"even":[169],"more":[170],"advantageous":[171],"comparison":[172],"against":[173],"alternatives":[174],"quality.":[179]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}