{"id":"https://openalex.org/W2922572893","doi":"https://doi.org/10.1109/icra.2019.8794317","title":"Using Local Experiences for Global Motion Planning","display_name":"Using Local Experiences for Global Motion Planning","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2922572893","doi":"https://doi.org/10.1109/icra.2019.8794317","mag":"2922572893"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794317","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":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1903.08693","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061640673","display_name":"Constantinos Chamzas","orcid":"https://orcid.org/0000-0001-5830-5542"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Constantinos Chamzas","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024993683","display_name":"Anshumali Shrivastava","orcid":"https://orcid.org/0000-0002-5042-2856"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anshumali Shrivastava","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067205988","display_name":"Lydia E. Kavraki","orcid":"https://orcid.org/0000-0003-0699-8038"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lydia E. Kavraki","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston TX, USA","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74775410"],"apc_list":null,"apc_paid":null,"fwci":2.9317,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.93917235,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8606","last_page":"8612"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9925000071525574,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9833999872207642,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8147287368774414},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8005009293556213},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7320846319198608},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6315106153488159},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5813413858413696},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5743917226791382},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5624862909317017},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5454140901565552},{"id":"https://openalex.org/keywords/memorization","display_name":"Memorization","score":0.48687735199928284},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47981715202331543},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.47826921939849854},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.4635642468929291},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.41751569509506226},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.34048110246658325},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3211239278316498},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.20505747199058533}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8147287368774414},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8005009293556213},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7320846319198608},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6315106153488159},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5813413858413696},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5743917226791382},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5624862909317017},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5454140901565552},{"id":"https://openalex.org/C30038468","wikidata":"https://www.wikidata.org/wiki/Q4354775","display_name":"Memorization","level":2,"score":0.48687735199928284},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47981715202331543},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.47826921939849854},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.4635642468929291},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.41751569509506226},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.34048110246658325},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3211239278316498},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.20505747199058533},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C145420912","wikidata":"https://www.wikidata.org/wiki/Q853077","display_name":"Mathematics education","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2019.8794317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794317","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:1903.08693","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.08693","pdf_url":"https://arxiv.org/pdf/1903.08693","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1903.08693","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.08693","pdf_url":"https://arxiv.org/pdf/1903.08693","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7699999809265137,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W89668600","https://openalex.org/W181534116","https://openalex.org/W1485661534","https://openalex.org/W1516027685","https://openalex.org/W1670942551","https://openalex.org/W1971458750","https://openalex.org/W2038131922","https://openalex.org/W2067754486","https://openalex.org/W2079148749","https://openalex.org/W2107535513","https://openalex.org/W2109212155","https://openalex.org/W2110762409","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2154038478","https://openalex.org/W2167348159","https://openalex.org/W2171266831","https://openalex.org/W2219970372","https://openalex.org/W2294594531","https://openalex.org/W2401467858","https://openalex.org/W2736968485","https://openalex.org/W2794922736","https://openalex.org/W2883982988","https://openalex.org/W2963439114","https://openalex.org/W3098336417","https://openalex.org/W3115270213","https://openalex.org/W6629573421","https://openalex.org/W6637067985"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W3154539612"],"abstract_inverted_index":{"Sampling-based":[0],"planners":[1,44],"are":[2,32,45],"effective":[3],"in":[4,27,96,105,144,156],"many":[5],"real-world":[6],"applications":[7],"such":[8],"as":[9],"robotics":[10],"manipulation,":[11],"navigation,":[12],"and":[13,102,135],"even":[14],"protein":[15],"modeling.":[16],"However,":[17],"it":[18],"is":[19,63],"often":[20],"challenging":[21,159],"to":[22,34,47,55,60,64,70,75,119,163],"generate":[23],"a":[24,106],"collision-free":[25],"path":[26],"environments":[28,69,130],"where":[29],"key":[30],"areas":[31],"hard":[33],"sample.":[35],"In":[36,80],"the":[37,72,76,85,97,120,138],"absence":[38],"of":[39,68,99,146,151,154],"any":[40],"prior":[41,66],"information,":[42],"sampling-based":[43],"forced":[46],"explore":[48],"uniformly":[49],"or":[50],"heuristically,":[51],"which":[52],"can":[53],"lead":[54],"degraded":[56],"performance.":[57],"One":[58],"way":[59],"improve":[61],"performance":[62,139],"use":[65],"knowledge":[67,126],"adapt":[71],"sampling":[73],"strategy":[74],"problem":[77],"at":[78],"hand.":[79],"this":[81],"work,":[82],"we":[83],"decompose":[84],"workspace":[86],"into":[87],"local":[88,91,100,116,133],"primitives,":[89],"memorizing":[90],"experiences":[92,117],"by":[93,114],"these":[94],"primitives":[95,134],"form":[98],"samplers,":[101],"store":[103],"them":[104],"database.":[107],"We":[108],"synthesize":[109],"an":[110,149],"efficient":[111],"global":[112],"sampler":[113],"retrieving":[115],"relevant":[118],"given":[121],"situation.":[122],"Our":[123,141],"method":[124],"transfers":[125],"effectively":[127],"between":[128],"diverse":[129],"that":[131],"share":[132],"speeds":[136],"up":[137],"dramatically.":[140],"results":[142],"show,":[143],"terms":[145],"solution":[147],"time,":[148],"improvement":[150],"multiple":[152],"orders":[153],"magnitude":[155],"two":[157],"traditionally":[158],"high-dimensional":[160],"problems":[161],"compared":[162],"state-of-the-art":[164],"approaches.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":1}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}