{"id":"https://openalex.org/W3089866190","doi":"https://doi.org/10.1109/icra40945.2020.9197236","title":"Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space","display_name":"Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089866190","doi":"https://doi.org/10.1109/icra40945.2020.9197236","mag":"3089866190"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197236","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-03467674","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054011089","display_name":"Michal Kleinbort","orcid":"https://orcid.org/0000-0002-7019-0095"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Michal Kleinbort","raw_affiliation_strings":["Blavatnik School of Computer Science, Tel-Aviv University, Israel","TAU - Tel Aviv University (Tel Aviv 699780 - Israel)"],"affiliations":[{"raw_affiliation_string":"Blavatnik School of Computer Science, Tel-Aviv University, Israel","institution_ids":["https://openalex.org/I16391192"]},{"raw_affiliation_string":"TAU - Tel Aviv University (Tel Aviv 699780 - Israel)","institution_ids":["https://openalex.org/I16391192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067291308","display_name":"Edgar Granados","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Edgar Granados","raw_affiliation_strings":["Computer Science Department, Rutgers University, NJ, USA","WINLAB Rutgers University (Rutgers, The State University of New Jersey Technology Centre of New Jersey 671 Route 1 South North Brunswick, NJ 08902-3390 - United States)"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"WINLAB Rutgers University (Rutgers, The State University of New Jersey Technology Centre of New Jersey 671 Route 1 South North Brunswick, NJ 08902-3390 - United States)","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000480439","display_name":"Kiril Solovey","orcid":"https://orcid.org/0000-0003-0254-0572"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kiril Solovey","raw_affiliation_strings":["Aeronautics and Astronautics Department, Stanford University, CA, USA","AA Stanford - Department of Aeronautics and Astronautics [Stanford] (Stanford University, Durand Building 496 Lomita Mall Stanford, CA 94305-4035 - United States)"],"affiliations":[{"raw_affiliation_string":"Aeronautics and Astronautics Department, Stanford University, CA, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I97018004"]},{"raw_affiliation_string":"AA Stanford - Department of Aeronautics and Astronautics [Stanford] (Stanford University, Durand Building 496 Lomita Mall Stanford, CA 94305-4035 - United States)","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011388253","display_name":"Riccardo Bonalli","orcid":"https://orcid.org/0000-0003-2561-1804"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Riccardo Bonalli","raw_affiliation_strings":["Aeronautics and Astronautics Department, Stanford University, CA, USA","AA Stanford - Department of Aeronautics and Astronautics [Stanford] (Stanford University, Durand Building 496 Lomita Mall Stanford, CA 94305-4035 - United States)"],"affiliations":[{"raw_affiliation_string":"Aeronautics and Astronautics Department, Stanford University, CA, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I97018004"]},{"raw_affiliation_string":"AA Stanford - Department of Aeronautics and Astronautics [Stanford] (Stanford University, Durand Building 496 Lomita Mall Stanford, CA 94305-4035 - United States)","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas E. Bekris","raw_affiliation_strings":["Computer Science Department, Rutgers University, NJ, USA","WINLAB Rutgers University (Rutgers, The State University of New Jersey Technology Centre of New Jersey 671 Route 1 South North Brunswick, NJ 08902-3390 - United States)"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Rutgers University, NJ, USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"WINLAB Rutgers University (Rutgers, The State University of New Jersey Technology Centre of New Jersey 671 Route 1 South North Brunswick, NJ 08902-3390 - United States)","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038503253","display_name":"Dan Halperin","orcid":"https://orcid.org/0000-0002-3345-3765"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Dan Halperin","raw_affiliation_strings":["Blavatnik School of Computer Science, Tel-Aviv University, Israel","TAU - Tel Aviv University (Tel Aviv 699780 - Israel)"],"affiliations":[{"raw_affiliation_string":"Blavatnik School of Computer Science, Tel-Aviv University, Israel","institution_ids":["https://openalex.org/I16391192"]},{"raw_affiliation_string":"TAU - Tel Aviv University (Tel Aviv 699780 - Israel)","institution_ids":["https://openalex.org/I16391192"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5054011089"],"corresponding_institution_ids":["https://openalex.org/I16391192"],"apc_list":null,"apc_paid":null,"fwci":2.2594,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.90190242,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6344","last_page":"6350"},"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":0.9631999731063843,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9571999907493591,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/reachability","display_name":"Reachability","score":0.6296620965003967},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.6062189340591431},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5742828845977783},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5722081065177917},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.531538724899292},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5254096984863281},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5134595036506653},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5132262706756592},{"id":"https://openalex.org/keywords/lipschitz-continuity","display_name":"Lipschitz continuity","score":0.5049241185188293},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4755499064922333},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.46452391147613525},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4439457654953003},{"id":"https://openalex.org/keywords/verifiable-secret-sharing","display_name":"Verifiable secret sharing","score":0.4264650344848633},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4120532274246216},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.40309247374534607},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39989906549453735},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2603345513343811},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17104199528694153}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.6296620965003967},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.6062189340591431},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5742828845977783},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5722081065177917},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.531538724899292},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5254096984863281},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5134595036506653},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5132262706756592},{"id":"https://openalex.org/C22324862","wikidata":"https://www.wikidata.org/wiki/Q652707","display_name":"Lipschitz continuity","level":2,"score":0.5049241185188293},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4755499064922333},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.46452391147613525},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4439457654953003},{"id":"https://openalex.org/C85847156","wikidata":"https://www.wikidata.org/wiki/Q59015987","display_name":"Verifiable secret sharing","level":3,"score":0.4264650344848633},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4120532274246216},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.40309247374534607},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39989906549453735},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2603345513343811},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17104199528694153},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra40945.2020.9197236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197236","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03467674v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03467674","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"2020 IEEE International Conference on Robotics and Automation (ICRA), May 2020, Paris, France. pp.6344-6350, ⟨10.1109/ICRA40945.2020.9197236⟩","raw_type":"Conference papers"},{"id":"pmh:oai:alma.01RUT_INST:11664989620004646","is_oa":false,"landing_page_url":"https://scholarship.libraries.rutgers.edu/esploro/outputs/conferenceProceeding/Refined-Analysis-of-Asymptotically-Optimal-Kinodynamic-Planning/991031665610304646","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Proceedings"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03467674v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03467674","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"2020 IEEE International Conference on Robotics and Automation (ICRA), May 2020, Paris, France. pp.6344-6350, ⟨10.1109/ICRA40945.2020.9197236⟩","raw_type":"Conference papers"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.75,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W231147053","https://openalex.org/W281357932","https://openalex.org/W300028405","https://openalex.org/W1140243306","https://openalex.org/W1160995053","https://openalex.org/W1424654272","https://openalex.org/W1509540129","https://openalex.org/W1521785144","https://openalex.org/W1578640434","https://openalex.org/W1587371456","https://openalex.org/W1742473997","https://openalex.org/W1814533834","https://openalex.org/W1864112212","https://openalex.org/W1971086298","https://openalex.org/W2000194319","https://openalex.org/W2000359213","https://openalex.org/W2036016432","https://openalex.org/W2054585537","https://openalex.org/W2071401582","https://openalex.org/W2083755543","https://openalex.org/W2132990760","https://openalex.org/W2166077797","https://openalex.org/W2334591577","https://openalex.org/W2611243847","https://openalex.org/W2889786920","https://openalex.org/W2962805470","https://openalex.org/W2963659407","https://openalex.org/W3089866190","https://openalex.org/W3103346840","https://openalex.org/W4211166659","https://openalex.org/W4301183172","https://openalex.org/W6609026366","https://openalex.org/W6610789544","https://openalex.org/W6627676159","https://openalex.org/W6753988834","https://openalex.org/W6774482443"],"related_works":["https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2067910792","https://openalex.org/W2156446763","https://openalex.org/W2143461633","https://openalex.org/W2150194458","https://openalex.org/W2355730523","https://openalex.org/W149700981","https://openalex.org/W2513478072","https://openalex.org/W2067790096"],"abstract_inverted_index":{"We":[0,130],"present":[1,138],"a":[2,7,46,75,109,125],"novel":[3],"analysis":[4],"of":[5,45,62,80,88,135,141,143],"AO-RRT:":[6],"tree-based":[8],"planner":[9],"for":[10,58,100],"motion":[11],"planning":[12],"with":[13],"kinodynamic":[14],"constraints,":[15],"originally":[16],"described":[17],"by":[18,124,128],"Hauser":[19],"and":[20,29,77,85,92,113,137],"Zhou":[21],"(AO-X,":[22],"2016).":[23],"AO-RRT":[24],"explores":[25],"the":[26,43,59,63,83,89,93,117,144],"state-cost":[27],"space":[28],"has":[30],"been":[31],"shown":[32],"to":[33],"efficiently":[34],"obtain":[35],"high-quality":[36],"solutions":[37],"in":[38],"practice":[39],"without":[40],"relying":[41],"on":[42,82],"availability":[44],"computationally-intensive":[47],"two-point":[48],"boundary-value":[49],"solver.":[50],"Our":[51,71],"main":[52],"contribution":[53],"is":[54],"an":[55],"optimality":[56],"proof":[57,72],"single-tree":[60],"version":[61],"algorithm-a":[64],"variant":[65],"that":[66,99],"was":[67],"not":[68],"analyzed":[69],"before.":[70],"only":[73],"requires":[74],"mild":[76],"easily-verifiable":[78],"set":[79],"assumptions":[81],"problem":[84],"system:":[86],"Lipschitz-continuity":[87],"cost":[90],"function":[91,112],"dynamics.":[94],"In":[95],"particular,":[96],"we":[97],"prove":[98],"any":[101,106],"system":[102],"satisfying":[103],"these":[104],"assumptions,":[105],"trajectory":[107,126],"having":[108],"piecewise-constant":[110],"control":[111],"positive":[114],"clearance":[115],"from":[116],"obstacles":[118],"can":[119],"be":[120],"approximated":[121],"arbitrarily":[122],"well":[123],"found":[127],"AORRT.":[129],"also":[131],"discuss":[132],"practical":[133],"aspects":[134],"AORRT":[136],"experimental":[139],"comparisons":[140],"variants":[142],"algorithm.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":3}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}