{"id":"https://openalex.org/W2755259229","doi":"https://doi.org/10.1109/icra.2018.8460861","title":"Sensor-Based Reactive Symbolic Planning in Partially Known Environments","display_name":"Sensor-Based Reactive Symbolic Planning in Partially Known Environments","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2755259229","doi":"https://doi.org/10.1109/icra.2018.8460861","mag":"2755259229"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460861","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://hdl.handle.net/1721.1/125881","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007454832","display_name":"Vasileios Vasilopoulos","orcid":"https://orcid.org/0000-0003-4681-2410"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vasileios Vasilopoulos","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA","Dept. of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021455082","display_name":"William Vega-Brown","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William Vega-Brown","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA","Dept. of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042096409","display_name":"\u00d6m\u00fcr Arslan","orcid":"https://orcid.org/0000-0003-0436-6424"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Omur Arslan","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA","Dept. of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010817303","display_name":"Nicholas Roy","orcid":"https://orcid.org/0000-0002-8293-0492"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Roy","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA","Dept. of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082032878","display_name":"Daniel E. Koditschek","orcid":"https://orcid.org/0000-0001-5188-1352"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel E. Koditschek","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA","Dept. of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5007454832"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00447644,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5683","last_page":"5690"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9921000003814697,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/planner","display_name":"Planner","score":0.6528801321983337},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6501504182815552},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6483944058418274},{"id":"https://openalex.org/keywords/mathematical-proof","display_name":"Mathematical proof","score":0.6295940279960632},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.625153660774231},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.608879566192627},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5780753493309021},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5780723094940186},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5616191625595093},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4548942446708679},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4307868182659149},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3355441093444824},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32345229387283325},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2708529829978943},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20822623372077942},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20508140325546265}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6528801321983337},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6501504182815552},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6483944058418274},{"id":"https://openalex.org/C108710211","wikidata":"https://www.wikidata.org/wiki/Q11538","display_name":"Mathematical proof","level":2,"score":0.6295940279960632},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.625153660774231},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.608879566192627},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5780753493309021},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5780723094940186},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5616191625595093},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4548942446708679},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4307868182659149},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3355441093444824},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32345229387283325},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2708529829978943},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20822623372077942},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20508140325546265},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra.2018.8460861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460861","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":"mag:2755259229","is_oa":false,"landing_page_url":"http://export.arxiv.org/pdf/1709.05474","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},{"id":"pmh:oai:repository.upenn.edu:ese_papers-1895","is_oa":false,"landing_page_url":"https://repository.upenn.edu/cgi/viewcontent.cgi?article=1895&context=ese_papers","pdf_url":null,"source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (ESE)","raw_type":"text"},{"id":"pmh:oai:dspace.mit.edu:1721.1/125881","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/125881","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"other univ website","raw_type":"http://purl.org/eprint/type/ConferencePaper"},{"id":"pmh:oai:repository.upenn.edu:20.500.14332/34072","is_oa":false,"landing_page_url":"https://repository.upenn.edu/handle/20.500.14332/34072","pdf_url":null,"source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"published","raw_type":"Presentation"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/125881","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/125881","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"other univ website","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1988313499","https://openalex.org/W2072839015","https://openalex.org/W2076738229","https://openalex.org/W2132714442","https://openalex.org/W2135639338","https://openalex.org/W2141626174","https://openalex.org/W2409953911","https://openalex.org/W2739046895","https://openalex.org/W2891392570","https://openalex.org/W3022958460","https://openalex.org/W6642962755","https://openalex.org/W6645678124","https://openalex.org/W6679764187","https://openalex.org/W6680688614","https://openalex.org/W6681431202","https://openalex.org/W6682911597","https://openalex.org/W6687819598","https://openalex.org/W6747765757"],"related_works":["https://openalex.org/W2785340821","https://openalex.org/W2898990223","https://openalex.org/W2883732767","https://openalex.org/W3008363175","https://openalex.org/W2887672964","https://openalex.org/W1510576764","https://openalex.org/W2587742116","https://openalex.org/W3104901003","https://openalex.org/W2268231264","https://openalex.org/W3003894547","https://openalex.org/W3098499184","https://openalex.org/W1485477084","https://openalex.org/W2891846153","https://openalex.org/W2782111122","https://openalex.org/W2330105802","https://openalex.org/W1590992579","https://openalex.org/W1983885373","https://openalex.org/W63574109","https://openalex.org/W2963101766","https://openalex.org/W3124602784"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"the":[3,53,63,74,98],"problem":[4],"of":[5,8,18,43,65,77,82,97],"completing":[6],"assemblies":[7],"passive":[9,54],"objects":[10,55],"in":[11,56],"nonconvex":[12],"environments,":[13],"cluttered":[14],"with":[15,35,73,104],"convex":[16],"obstacles":[17],"unknown":[19],"position,":[20],"shape":[21],"and":[22,38,79,91,107],"size":[23],"that":[24,86],"satisfy":[25],"a":[26,36,39,57,66,83],"specific":[27],"separation":[28],"assumption.":[29],"A":[30],"differential":[31],"drive":[32],"robot":[33],"equipped":[34],"gripper":[37],"LIDAR":[40],"sensor,":[41],"capable":[42],"perceiving":[44],"its":[45],"environment":[46],"only":[47],"locally,":[48],"is":[49,92,101],"used":[50,93],"to":[51],"position":[52],"desired":[58],"configuration.":[59],"The":[60,95],"method":[61,100],"combines":[62],"virtues":[64],"deliberative":[67],"planner":[68,85],"generating":[69],"high-level,":[70],"symbolic":[71],"commands,":[72],"formal":[75,105],"guarantees":[76],"convergence":[78],"obstacle":[80],"avoidance":[81],"reactive":[84],"requires":[87],"little":[88],"onboard":[89],"computation":[90],"online.":[94],"validity":[96],"proposed":[99],"verified":[102],"both":[103],"proofs":[106],"numerical":[108],"simulations.":[109]},"counts_by_year":[],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}