{"id":"https://openalex.org/W2900004973","doi":"https://doi.org/10.1109/icra.2019.8793660","title":"Chance Constrained Motion Planning for High-Dimensional Robots","display_name":"Chance Constrained Motion Planning for High-Dimensional Robots","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2900004973","doi":"https://doi.org/10.1109/icra.2019.8793660","mag":"2900004973"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793660","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793660","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1811.03073","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031618193","display_name":"Siyu Dai","orcid":"https://orcid.org/0000-0002-0924-3629"},"institutions":[{"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":true,"raw_author_name":"Siyu Dai","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","[Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA]"],"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":"[Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA]","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014924270","display_name":"Shawn Schaffert","orcid":null},"institutions":[{"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":"Shawn Schaffert","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","[Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA]"],"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":"[Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA]","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039991188","display_name":"Ashkan Jasour","orcid":"https://orcid.org/0000-0002-4530-8311"},"institutions":[{"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":"Ashkan Jasour","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","[Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA]"],"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":"[Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA]","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074521402","display_name":"Andreas Hofmann","orcid":"https://orcid.org/0000-0002-4800-8429"},"institutions":[{"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":"Andreas Hofmann","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","[Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA]"],"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":"[Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA]","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101709620","display_name":"Brian Williams","orcid":"https://orcid.org/0000-0002-1057-3940"},"institutions":[{"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":"Brian Williams","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","[Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA]"],"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":"[Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA]","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5031618193"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":0.2044,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.51196762,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"8805","last_page":"8811"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962999820709229,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9832000136375427,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.6744999885559082},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.664315938949585},{"id":"https://openalex.org/keywords/waypoint","display_name":"Waypoint","score":0.6039295196533203},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5884369611740112},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5509563684463501},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5469586253166199},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.47206810116767883},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4638068675994873},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.44303956627845764},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4260946810245514},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.35217174887657166},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2569475769996643},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2002413272857666},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.18466725945472717}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6744999885559082},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.664315938949585},{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.6039295196533203},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5884369611740112},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5509563684463501},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5469586253166199},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.47206810116767883},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4638068675994873},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.44303956627845764},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4260946810245514},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.35217174887657166},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2569475769996643},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2002413272857666},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.18466725945472717},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra.2019.8793660","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793660","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"},{"id":"pmh:oai:arXiv.org:1811.03073","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1811.03073","pdf_url":"https://arxiv.org/pdf/1811.03073","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2900004973","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1811.03073","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:dspace.mit.edu:1721.1/137338","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137338","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":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"},{"id":"doi:10.48550/arxiv.1811.03073","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1811.03073","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1811.03073","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1811.03073","pdf_url":"https://arxiv.org/pdf/1811.03073","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"score":0.6100000143051147,"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/W2900004973.pdf","grobid_xml":"https://content.openalex.org/works/W2900004973.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1510793184","https://openalex.org/W1756618330","https://openalex.org/W1976422186","https://openalex.org/W2002201291","https://openalex.org/W2031173376","https://openalex.org/W2072033067","https://openalex.org/W2087939536","https://openalex.org/W2094438648","https://openalex.org/W2097148013","https://openalex.org/W2099430963","https://openalex.org/W2101496914","https://openalex.org/W2103052138","https://openalex.org/W2127788848","https://openalex.org/W2128504549","https://openalex.org/W2138693458","https://openalex.org/W2139809908","https://openalex.org/W2142224528","https://openalex.org/W2159555929","https://openalex.org/W2164429173","https://openalex.org/W2168992242","https://openalex.org/W2171369888","https://openalex.org/W2293883387","https://openalex.org/W2336416123","https://openalex.org/W2895355463","https://openalex.org/W2899557249","https://openalex.org/W2963033617","https://openalex.org/W6679445762"],"related_works":["https://openalex.org/W2967258016","https://openalex.org/W3110201896","https://openalex.org/W2793777304","https://openalex.org/W3114411277","https://openalex.org/W3206801026","https://openalex.org/W2293883387","https://openalex.org/W2154605474","https://openalex.org/W2771292402","https://openalex.org/W1999164212","https://openalex.org/W2967640095","https://openalex.org/W3014355579","https://openalex.org/W3112457812","https://openalex.org/W3105267091","https://openalex.org/W3109313578","https://openalex.org/W3129611905","https://openalex.org/W2002201291","https://openalex.org/W3117059735","https://openalex.org/W3183456314","https://openalex.org/W2892083874","https://openalex.org/W2281721629"],"abstract_inverted_index":{"This":[0],"paper":[1,138],"introduces":[2],"Probabilistic":[3],"Chekov":[4],"(p-Chekov),":[5],"a":[6,40,61,77],"chance-constrained":[7],"motion":[8,21,54,80],"planning":[9,55,70,81,125,157],"system":[10,143],"that":[11,140],"can":[12,34,119,144],"be":[13,120],"applied":[14,121],"to":[15,95,105,122],"high":[16],"degree-of-freedom":[17],"(DOF)":[18],"robots":[19],"under":[20],"uncertainty":[22],"and":[23,29,100,149],"imperfect":[24],"state":[25,89],"information.":[26],"Given":[27],"process":[28],"observation":[30],"noise":[31],"models,":[32],"it":[33],"find":[35],"feasible":[36],"trajectories":[37],"which":[38,56],"satisfy":[39,150],"user-specified":[41,151],"bound":[42],"over":[43],"the":[44,84,87,128,131],"probability":[45,90],"of":[46,86,109,130],"collision.":[47],"Leveraging":[48],"our":[49],"previous":[50],"work":[51],"in":[52,68,136,154],"deterministic":[53],"integrated":[57],"trajectory":[58],"optimization":[59],"into":[60,83],"sparse":[62],"roadmap":[63],"framework,":[64],"p-Chekov":[65,118,142],"shows":[66],"superiority":[67],"its":[69],"speed":[71],"for":[72,159],"high-dimensional":[73],"tasks.":[74],"P-Chekov":[75],"incorporates":[76],"linear-quadratic":[78],"Gaussian":[79],"approach":[82],"estimation":[85],"robot":[88],"distribution,":[91],"applies":[92],"quadrature":[93],"theories":[94],"waypoint":[96],"collision":[97,147],"risk":[98,102,148],"estimation,":[99],"adapts":[101],"allocation":[103],"approaches":[104],"assign":[106],"allowable":[107],"probabilities":[108],"failure":[110],"among":[111],"waypoints.":[112],"Unlike":[113],"other":[114],"existing":[115],"risk-aware":[116],"planners,":[117],"high-DOF":[123,160],"robotic":[124],"tasks":[126],"without":[127],"convexification":[129],"environment.":[132],"The":[133],"experiment":[134],"results":[135],"this":[137,141],"show":[139],"effectively":[145],"reduce":[146],"chance":[152],"constraints":[153],"typical":[155],"real-world":[156],"scenarios":[158],"robots.":[161]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}