{"id":"https://openalex.org/W2013385611","doi":"https://doi.org/10.1109/icra.2013.6631317","title":"Snakes on a plan: Toward combining planning and control","display_name":"Snakes on a plan: Toward combining planning and control","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2013385611","doi":"https://doi.org/10.1109/icra.2013.6631317","mag":"2013385611"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631317","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","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/A5076997453","display_name":"Ross L. Hatton","orcid":"https://orcid.org/0000-0002-0422-0209"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ross L. Hatton","raw_affiliation_strings":["School of Mechanical, Industrial and Manufacturing Engineering, Oregon State University, Corvallis, OR, USA","Sch. of Mech., Ind. & Manuf. Eng., Oregon State Univ., Corvallis, OR, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical, Industrial and Manufacturing Engineering, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"Sch. of Mech., Ind. & Manuf. Eng., Oregon State Univ., Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027264368","display_name":"Ross A. Knepper","orcid":"https://orcid.org/0000-0003-0462-5502"},"institutions":[{"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"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ross A. Knepper","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007","https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048906141","display_name":"Howie Choset","orcid":null},"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":false,"raw_author_name":"Howie Choset","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011815141","display_name":"David Rollinson","orcid":null},"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":false,"raw_author_name":"David Rollinson","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075440564","display_name":"Chaohui Gong","orcid":"https://orcid.org/0000-0003-1748-9597"},"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":false,"raw_author_name":"Chaohui Gong","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012200511","display_name":"Enric Galceran","orcid":null},"institutions":[{"id":"https://openalex.org/I251424209","display_name":"Universitat de Girona","ror":"https://ror.org/01xdxns91","country_code":"ES","type":"education","lineage":["https://openalex.org/I251424209"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Enric Galceran","raw_affiliation_strings":["University of Girona, Edifici P-IV, Girona, Spain","[University of Girona, Girona, Spain]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Girona, Edifici P-IV, Girona, Spain","institution_ids":["https://openalex.org/I251424209"]},{"raw_affiliation_string":"[University of Girona, Girona, Spain]","institution_ids":["https://openalex.org/I251424209"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6576,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.85931533,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5174","last_page":"5181"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9962999820709229,"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":0.9962999820709229,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.9937000274658203,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.6189412474632263},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5776538252830505},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5636566281318665},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23024874925613403},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11285847425460815}],"concepts":[{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.6189412474632263},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5776538252830505},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5636566281318665},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23024874925613403},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11285847425460815},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2013.6631317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631317","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.716.842","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.716.842","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robots.engin.umich.edu/%7Eegalcera/papers/galceran_icra13_snakes.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W181237337","https://openalex.org/W1675003565","https://openalex.org/W1763528081","https://openalex.org/W1969023123","https://openalex.org/W1969483458","https://openalex.org/W1970857232","https://openalex.org/W1970890205","https://openalex.org/W1973546417","https://openalex.org/W1993300073","https://openalex.org/W2000359213","https://openalex.org/W2006010000","https://openalex.org/W2015364224","https://openalex.org/W2049410986","https://openalex.org/W2060127978","https://openalex.org/W2067477688","https://openalex.org/W2086933202","https://openalex.org/W2090370942","https://openalex.org/W2098768009","https://openalex.org/W2099428832","https://openalex.org/W2104114185","https://openalex.org/W2112808334","https://openalex.org/W2114171536","https://openalex.org/W2116625481","https://openalex.org/W2126095117","https://openalex.org/W2126621973","https://openalex.org/W2128927610","https://openalex.org/W2133859362","https://openalex.org/W2134753324","https://openalex.org/W2134858572","https://openalex.org/W2137670317","https://openalex.org/W2139714790","https://openalex.org/W2144026911","https://openalex.org/W2146262966","https://openalex.org/W2146418849","https://openalex.org/W2148224992","https://openalex.org/W2156174987","https://openalex.org/W2162325662","https://openalex.org/W2167911245","https://openalex.org/W2169629082","https://openalex.org/W2179313173","https://openalex.org/W2292979104","https://openalex.org/W2294319407","https://openalex.org/W3147372055","https://openalex.org/W3172424995","https://openalex.org/W3193680531","https://openalex.org/W4292408540","https://openalex.org/W6676972451","https://openalex.org/W6679098390","https://openalex.org/W6696937056","https://openalex.org/W6696955428","https://openalex.org/W6799996692"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Highly":[0],"articulated":[1],"robot":[2,172,188,203],"locomotion":[3],"systems,":[4],"such":[5,94],"as":[6,61],"snake":[7,50,171,202],"robots,":[8],"present":[9],"special":[10],"motion":[11,72],"planning":[12],"challenges.":[13],"They":[14],"possess":[15],"many":[16],"degrees":[17],"of":[18,46,56,79,154,166,208,218,224],"freedom,":[19],"and":[20,39,65,70,141,181],"therefore":[21],"are":[22,63,96],"modeled":[23],"by":[24],"a":[25,36,110,115,126,130,136,164,200,206],"high":[26],"dimensional":[27,138],"configuration":[28],"space":[29,78,140,192],"which":[30,128,162],"must":[31],"be":[32],"searched":[33],"to":[34,68,132,177,185,221,226],"plan":[35,182],"path.":[37,193],"Kinematic":[38],"dynamic":[40],"constraints":[41],"further":[42],"complicate":[43],"the":[44,59,77,105,148,159,170,175,187,190,216],"selection":[45],"effective":[47],"controls.":[48],"Finally,":[49],"robots":[51],"often":[52,97],"have":[53],"multiple":[54],"modes":[55],"interaction":[57],"with":[58,183],"terrain":[60],"contacts":[62],"made":[64],"broken,":[66],"leading":[67],"complex":[69],"imperfect":[71],"models.":[73],"We":[74,194],"believe":[75],"that":[76,82,173],"useful":[80],"controls":[81],"provides":[83],"desirable":[84],"motions,":[85],"however,":[86],"is":[87,163],"much":[88],"smaller.":[89],"Useful":[90],"net":[91],"motions":[92,103,146],"for":[93,169],"systems":[95],"generated":[98],"via":[99],"gaits,":[100,144],"or":[101],"cyclic":[102],"in":[104,135,147],"shape":[106,150],"space.":[107,151],"Gaits":[108],"transform":[109],"high-dimensional":[111],"continuum":[112],"search":[113],"into":[114],"relatively":[116],"tractable":[117],"discrete":[118],"search.":[119],"In":[120],"this":[121,155,196],"paper,":[122],"we":[123],"put":[124],"forward":[125],"framework":[127],"allows":[129,174],"planner":[131,176,197],"generate":[133],"paths":[134],"low":[137],"work":[139,191],"select":[142,179],"among":[143,180],"pre-planned":[145],"robot's":[149],"The":[152,211],"contribution":[153],"paper":[156],"rests":[157],"on":[158,199],"\u201cvirtual":[160],"chassis\u201d":[161],"choice":[165],"body":[167],"frame":[168],"efficiently":[178],"gaits":[184],"direct":[186],"along":[189],"demonstrate":[195],"running":[198],"simulated":[201],"navigating":[204],"through":[205],"variety":[207],"clutter":[209],"scenarios.":[210],"virtual":[212],"chassis":[213],"also":[214],"has":[215],"benefit":[217],"allowing":[219],"us":[220],"generalize":[222],"notions":[223],"controllability":[225],"gait":[227],"motions.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
