{"id":"https://openalex.org/W2094058241","doi":"https://doi.org/10.1109/icra.2012.6225334","title":"A scalable method for parallelizing sampling-based motion planning algorithms","display_name":"A scalable method for parallelizing sampling-based motion planning algorithms","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2094058241","doi":"https://doi.org/10.1109/icra.2012.6225334","mag":"2094058241"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225334","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/A5017294111","display_name":"Sam Ad\u00e9 Jacobs","orcid":"https://orcid.org/0000-0003-3425-5602"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sam Ade Jacobs","raw_affiliation_strings":["Dept. of Computer Science and Engineering, Texas A&M Univ, College Station, Texas, USA","Parasol Lab., Dept. of Computer Science and Engineering, Texas A&M Univ., College Station, 77843-3112, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science and Engineering, Texas A&M Univ, College Station, Texas, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Parasol Lab., Dept. of Computer Science and Engineering, Texas A&M Univ., College Station, 77843-3112, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079697685","display_name":"Kasra Manavi","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kasra Manavi","raw_affiliation_strings":["Dept. of Computer Science and Engineering, Texas A&M Univ, College Station, Texas, USA","Parasol Lab., Dept. of Computer Science and Engineering, Texas A&M Univ., College Station, 77843-3112, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science and Engineering, Texas A&M Univ, College Station, Texas, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Parasol Lab., Dept. of Computer Science and Engineering, Texas A&M Univ., College Station, 77843-3112, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064246862","display_name":"Juan Burgos","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Juan Burgos","raw_affiliation_strings":["Dept. of Computer Science and Engineering, Texas A&M Univ, College Station, Texas, USA","Parasol Lab., Dept. of Computer Science and Engineering, Texas A&M Univ., College Station, 77843-3112, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science and Engineering, Texas A&M Univ, College Station, Texas, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Parasol Lab., Dept. of Computer Science and Engineering, Texas A&M Univ., College Station, 77843-3112, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028018354","display_name":"Jory Denny","orcid":"https://orcid.org/0000-0002-1642-0005"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jory Denny","raw_affiliation_strings":["Dept. of Computer Science and Engineering, Texas A&M Univ, College Station, Texas, USA","Parasol Lab., Dept. of Computer Science and Engineering, Texas A&M Univ., College Station, 77843-3112, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science and Engineering, Texas A&M Univ, College Station, Texas, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Parasol Lab., Dept. of Computer Science and Engineering, Texas A&M Univ., College Station, 77843-3112, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086656459","display_name":"Shawna Thomas","orcid":"https://orcid.org/0000-0002-9967-2493"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shawna Thomas","raw_affiliation_strings":["Dept. of Computer Science and Engineering, Texas A&M Univ, College Station, Texas, USA","Parasol Lab., Dept. of Computer Science and Engineering, Texas A&M Univ., College Station, 77843-3112, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science and Engineering, Texas A&M Univ, College Station, Texas, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Parasol Lab., Dept. of Computer Science and Engineering, Texas A&M Univ., College Station, 77843-3112, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050205557","display_name":"Nancy M. Amato","orcid":"https://orcid.org/0000-0001-5817-5290"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nancy M. Amato","raw_affiliation_strings":["Dept. of Computer Science and Engineering, Texas A&M Univ, College Station, Texas, USA","Parasol Lab., Dept. of Computer Science and Engineering, Texas A&M Univ., College Station, 77843-3112, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science and Engineering, Texas A&M Univ, College Station, Texas, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Parasol Lab., Dept. of Computer Science and Engineering, Texas A&M Univ., College Station, 77843-3112, USA","institution_ids":["https://openalex.org/I91045830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I91045830"],"apc_list":null,"apc_paid":null,"fwci":2.2547,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.91428978,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.995199978351593,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9890999794006348,"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/computer-science","display_name":"Computer science","score":0.8430125713348389},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7287092804908752},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5354848504066467},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.4340032637119293},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4222849905490875},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4018443822860718},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27385538816452026},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.18793579936027527},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.06176632642745972}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8430125713348389},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7287092804908752},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5354848504066467},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.4340032637119293},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4222849905490875},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4018443822860718},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27385538816452026},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.18793579936027527},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.06176632642745972},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2012.6225334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225334","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:CiteSeerX.psu:10.1.1.640.134","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.640.134","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://parasol.tamu.edu/publications/download.php?file_id=734","raw_type":"text"},{"id":"pmh:oai:repository.kaust.edu.sa:10754/597399","is_oa":false,"landing_page_url":"http://repository.kaust.edu.sa/kaust/handle/10754/597399","pdf_url":null,"source":{"id":"https://openalex.org/S4306401596","display_name":"King Abdullah University of Science and Technology Repository (King Abdullah University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I71920554","host_organization_name":"King Abdullah University of Science and Technology","host_organization_lineage":["https://openalex.org/I71920554"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7799999713897705,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W110311002","https://openalex.org/W1521785144","https://openalex.org/W1551413036","https://openalex.org/W1562342398","https://openalex.org/W1586146481","https://openalex.org/W1595414374","https://openalex.org/W1653812874","https://openalex.org/W1763528081","https://openalex.org/W1963494026","https://openalex.org/W1965244358","https://openalex.org/W1969519268","https://openalex.org/W2043528001","https://openalex.org/W2077091230","https://openalex.org/W2105248582","https://openalex.org/W2114627166","https://openalex.org/W2124543852","https://openalex.org/W2128990851","https://openalex.org/W2140581373","https://openalex.org/W2141664020","https://openalex.org/W2145485130","https://openalex.org/W2145882751","https://openalex.org/W2155559957","https://openalex.org/W2158856839","https://openalex.org/W2160419405","https://openalex.org/W2162194667","https://openalex.org/W2164062812","https://openalex.org/W2171266831","https://openalex.org/W2397499736","https://openalex.org/W2518329001","https://openalex.org/W4229866769","https://openalex.org/W4230283118","https://openalex.org/W6604465034","https://openalex.org/W6633768732","https://openalex.org/W6636918919","https://openalex.org/W6642570060","https://openalex.org/W6680635171","https://openalex.org/W6683775771","https://openalex.org/W6726765732"],"related_works":["https://openalex.org/W1527726406","https://openalex.org/W2364921833","https://openalex.org/W1604898313","https://openalex.org/W2503642292","https://openalex.org/W1784521533","https://openalex.org/W1595151633","https://openalex.org/W1547595128","https://openalex.org/W2000058275","https://openalex.org/W2370911386","https://openalex.org/W1531780705"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,48,74,95,141,148],"scalable":[4,132],"method":[5,89],"for":[6,77],"parallelizing":[7],"sampling-based":[8,28],"motion":[9,82],"planning":[10,83,98],"algorithms.":[11,112],"It":[12],"subdivides":[13],"configuration":[14],"space":[15,54],"(C-space)":[16],"into":[17],"(possibly":[18],"overlapping)":[19],"regions":[20,43],"and":[21,55,66,107,123,130,146],"independently,":[22],"in":[23,33,37,41,79],"parallel,":[24,38],"uses":[25],"standard":[26],"(sequential)":[27],"planners":[29],"to":[30,46,93,117],"construct":[31],"roadmaps":[32,40],"each":[34],"region.":[35],"Next,":[36],"regional":[39],"adjacent":[42],"are":[44],"connected":[45],"form":[47],"global":[49],"roadmap.":[50],"By":[51],"subdividing":[52],"the":[53,57,64,101],"restricting":[56],"locality":[58],"of":[59,97],"connection":[60],"attempts,":[61],"we":[62],"reduce":[63],"work":[65],"inter-processor":[67],"communication":[68],"associated":[69],"with":[70],"nearest":[71],"neighbor":[72],"calculation,":[73],"critical":[75],"bottleneck":[76],"scalability":[78,139],"existing":[80,120],"parallel":[81,121],"methods.":[84],"We":[85,113],"show":[86],"that":[87,125],"our":[88,115,126],"is":[90],"general":[91],"enough":[92],"handle":[94],"variety":[96],"schemes,":[99],"including":[100],"widely":[102],"used":[103],"Probabilistic":[104],"Roadmap":[105],"(PRM)":[106],"Rapidly-exploring":[108],"Random":[109],"Trees":[110],"(RRT)":[111],"compare":[114],"approach":[116,127,135],"two":[118],"other":[119],"algorithms":[122],"demonstrate":[124],"achieves":[128,136],"better":[129],"more":[131],"performance.":[133],"Our":[134],"almost":[137],"linear":[138],"on":[140,147],"2400":[142],"core":[143,150],"LINUX":[144],"cluster":[145],"153,216":[149],"Cray":[151],"XE6":[152],"petascale":[153],"machine.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":5}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}