{"id":"https://openalex.org/W2891964425","doi":"https://doi.org/10.1109/icra.2018.8460753","title":"Randomized Kinodynamic Planning for Constrained Systems","display_name":"Randomized Kinodynamic Planning for Constrained Systems","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2891964425","doi":"https://doi.org/10.1109/icra.2018.8460753","mag":"2891964425"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460753","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://upcommons.upc.edu/bitstreams/4a9826cd-4fb7-4563-98f6-5611aa27f6ce/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051439932","display_name":"Ricard Bordalba","orcid":"https://orcid.org/0000-0002-6727-6277"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Ricard Bordalba","raw_affiliation_strings":["CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089347287","display_name":"Llu\u00eds Ros","orcid":"https://orcid.org/0000-0002-8338-6062"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]},{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Lluis Ros","raw_affiliation_strings":["CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064488097","display_name":"Josep M. Porta","orcid":"https://orcid.org/0000-0002-5056-1717"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]},{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Josep M. Porta","raw_affiliation_strings":["CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5051439932"],"corresponding_institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"],"apc_list":null,"apc_paid":null,"fwci":1.0603,"has_fulltext":true,"cited_by_count":17,"citation_normalized_percentile":{"value":0.8279474,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7079","last_page":"7086"},"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":0.9882000088691711,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9865000247955322,"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/motion-planning","display_name":"Motion planning","score":0.5523267984390259},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.5402879118919373},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.5390704274177551},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5322408676147461},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.5219475626945496},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.514905571937561},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.49907970428466797},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.49554288387298584},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.47944894433021545},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.45126014947891235},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.42683830857276917},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41824740171432495},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34974873065948486},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2932795584201813},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14008823037147522},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10954686999320984}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5523267984390259},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.5402879118919373},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.5390704274177551},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5322408676147461},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5219475626945496},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.514905571937561},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.49907970428466797},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.49554288387298584},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.47944894433021545},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.45126014947891235},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.42683830857276917},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41824740171432495},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34974873065948486},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2932795584201813},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14008823037147522},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10954686999320984},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2018.8460753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460753","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:upcommons.upc.edu:2117/125331","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/125331","pdf_url":"https://upcommons.upc.edu/bitstreams/4a9826cd-4fb7-4563-98f6-5611aa27f6ce/download","source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference report"},{"id":"pmh:oai:digital.csic.es:10261/179343","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/179343","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Comunicaci\u00f3n de congreso"}],"best_oa_location":{"id":"pmh:oai:upcommons.upc.edu:2117/125331","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/125331","pdf_url":"https://upcommons.upc.edu/bitstreams/4a9826cd-4fb7-4563-98f6-5611aa27f6ce/download","source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference report"},"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2891964425.pdf","grobid_xml":"https://content.openalex.org/works/W2891964425.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W28795493","https://openalex.org/W747817803","https://openalex.org/W1424654272","https://openalex.org/W1742473997","https://openalex.org/W1863997888","https://openalex.org/W1975679014","https://openalex.org/W2000359213","https://openalex.org/W2009124734","https://openalex.org/W2009334861","https://openalex.org/W2024521997","https://openalex.org/W2036016432","https://openalex.org/W2048820947","https://openalex.org/W2072073129","https://openalex.org/W2102128251","https://openalex.org/W2103776982","https://openalex.org/W2116341587","https://openalex.org/W2121180190","https://openalex.org/W2128990851","https://openalex.org/W2132990760","https://openalex.org/W2133631661","https://openalex.org/W2142981033","https://openalex.org/W2159722616","https://openalex.org/W2611243847","https://openalex.org/W2966015659","https://openalex.org/W4242811155","https://openalex.org/W4256495253","https://openalex.org/W6656652173","https://openalex.org/W6678011793","https://openalex.org/W6766636623"],"related_works":["https://openalex.org/W4246538999","https://openalex.org/W4244698559","https://openalex.org/W2002361198","https://openalex.org/W804484174","https://openalex.org/W56933075","https://openalex.org/W1548568597","https://openalex.org/W4386597929","https://openalex.org/W2366039691","https://openalex.org/W2067790096","https://openalex.org/W5179970"],"abstract_inverted_index":{"Kinodynamic":[0],"RRT":[1,87],"planners":[2],"are":[3,24],"considered":[4],"to":[5,40,71,103,108],"be":[6],"general":[7],"tools":[8],"for":[9,14],"effectively":[10],"finding":[11],"feasible":[12],"trajectories":[13],"high-dimensional":[15],"dynamical":[16,73],"systems.":[17,142],"However,":[18],"they":[19],"struggle":[20],"when":[21],"holonomic":[22,132],"constraints":[23,133],"present":[25],"in":[26,33,36,46,140],"the":[27,51,56,65,85,94,111,117,124,138],"system,":[28],"such":[29,54,114],"as":[30],"those":[31],"arising":[32],"parallel":[34],"manipulators,":[35],"robots":[37],"that":[38,89,129],"cooperate":[39],"fulfill":[41],"a":[42],"given":[43],"task,":[44],"or":[45],"situations":[47],"involving":[48],"contacts":[49],"with":[50],"environment.":[52],"In":[53],"cases,":[55],"state":[57],"space":[58],"becomes":[59],"an":[60,82,91],"implicitly-defined":[61],"manifold,":[62],"which":[63],"makes":[64],"diffusion":[66],"heuristic":[67],"inefficient":[68],"and":[69,98,107],"leads":[70],"inaccurate":[72],"simulations.":[74],"To":[75,116],"address":[76],"these":[77],"issues,":[78],"this":[79,100,122],"paper":[80],"presents":[81],"extension":[83],"of":[84,93,119],"kinodynamic":[86,127],"planner":[88,128],"constructs":[90],"atlas":[92,101],"state-space":[95],"manifold":[96],"incrementally,":[97],"uses":[99],"both":[102],"generate":[104],"random":[105],"states":[106],"dynamically":[109],"steer":[110],"system":[112],"towards":[113],"states.":[115],"best":[118],"our":[120],"knowledge,":[121],"is":[123],"first":[125],"randomized":[126],"explicitly":[130],"takes":[131],"into":[134],"account.":[135],"We":[136],"validate":[137],"approach":[139],"significantly-complex":[141]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2026-05-09T13:55:54.758798","created_date":"2018-09-27T00:00:00"}