{"id":"https://openalex.org/W2968456578","doi":"https://doi.org/10.1109/icra.2019.8793647","title":"Efficient Kinodynamic Multi-Robot Replanning in Known Workspaces","display_name":"Efficient Kinodynamic Multi-Robot Replanning in Known Workspaces","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968456578","doi":"https://doi.org/10.1109/icra.2019.8793647","mag":"2968456578"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793647","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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/A5034238925","display_name":"Arjav Desai","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":true,"raw_author_name":"Arjav Desai","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055401400","display_name":"Matthew Collins","orcid":"https://orcid.org/0009-0002-8414-023X"},"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":"Matthew Collins","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017643429","display_name":"Nathan Michael","orcid":"https://orcid.org/0000-0002-3585-9195"},"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":"Nathan Michael","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5034238925"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.911,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.79117948,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2","issue":null,"first_page":"1021","last_page":"1027"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9846000075340271,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9693999886512756,"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/reachability","display_name":"Reachability","score":0.868645191192627},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8266352415084839},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6922934651374817},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.6897192001342773},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6215790510177612},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5246317982673645},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4459350109100342},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4367585778236389},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4291277527809143},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.4028061330318451},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.38062989711761475},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25610673427581787},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.22237509489059448},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2109067440032959}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.868645191192627},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8266352415084839},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6922934651374817},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.6897192001342773},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6215790510177612},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5246317982673645},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4459350109100342},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4367585778236389},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4291277527809143},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.4028061330318451},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.38062989711761475},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25610673427581787},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.22237509489059448},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2109067440032959}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8793647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793647","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6499999761581421,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W211162959","https://openalex.org/W1864112212","https://openalex.org/W1992157405","https://openalex.org/W1996036165","https://openalex.org/W2000359213","https://openalex.org/W2038498300","https://openalex.org/W2066528300","https://openalex.org/W2071447697","https://openalex.org/W2112271657","https://openalex.org/W2123030512","https://openalex.org/W2136207702","https://openalex.org/W2155313135","https://openalex.org/W2165693128","https://openalex.org/W2166462345","https://openalex.org/W2169528473","https://openalex.org/W2169742265","https://openalex.org/W2241553860","https://openalex.org/W2482392012","https://openalex.org/W2532574496","https://openalex.org/W2579451340","https://openalex.org/W2608775622","https://openalex.org/W2787876816","https://openalex.org/W2800576786","https://openalex.org/W2851283644","https://openalex.org/W2914296650","https://openalex.org/W2962805470","https://openalex.org/W2963482581","https://openalex.org/W2963497136","https://openalex.org/W2987233852","https://openalex.org/W3141776272","https://openalex.org/W4231761304","https://openalex.org/W4252255242","https://openalex.org/W6684528527","https://openalex.org/W6758754608"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2371519816","https://openalex.org/W2067910792","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2170721748","https://openalex.org/W2048576502","https://openalex.org/W2766493616"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3],"consider":[4],"the":[5,34,43,48,51,54,57,61,68,93,118,121],"problem":[6,36],"of":[7,47,56,60,71,75,85,120],"online":[8],"centralized":[9],"kinodynamic":[10],"multi-robot":[11,125],"replanning":[12,126],"(from":[13],"potentially":[14],"non-stationary":[15],"initial":[16],"states)":[17],"and":[18,22,50,102,113],"coordination":[19],"in":[20,42,53,111,127],"known":[21,128],"cluttered":[23],"workspaces.":[24],"Offline":[25],"state":[26],"lattice":[27],"reachability":[28],"analysis":[29],"is":[30],"leveraged":[31],"to":[32,80,108],"decouple":[33],"planning":[35],"into":[37],"two":[38,112],"sequential":[39],"graph":[40,46,55],"searches-one":[41],"explicit":[44],"geometric":[45,76],"environment":[49],"other":[52],"higher-order":[58,86],"derivatives":[59],"robot's":[62],"state-in":[63],"a":[64,72,82],"manner":[65],"such":[66],"that":[67],"intermediate":[69],"vertices":[70],"safe":[73],"set":[74],"paths":[77],"are":[78,99],"guaranteed":[79],"have":[81],"feasible":[83,101],"assignment":[84],"derivatives.":[87],"Without":[88],"additional":[89],"iterative":[90],"refinement":[91],"procedures,":[92],"resulting":[94],"time":[95],"parameterized":[96],"polynomial":[97],"trajectories":[98],"dynamically":[100],"collision-free.":[103],"Planning":[104],"results":[105],"with":[106],"up":[107],"20":[109],"robots":[110],"three":[114],"dimensional":[115],"workspaces":[116],"suggest":[117],"suitability":[119],"proposed":[122],"approach":[123],"for":[124],"environments.":[129]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}