{"id":"https://openalex.org/W4285102417","doi":"https://doi.org/10.1109/icra46639.2022.9812343","title":"Gaussian Belief Trees for Chance Constrained Asymptotically Optimal Motion Planning","display_name":"Gaussian Belief Trees for Chance Constrained Asymptotically Optimal Motion Planning","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102417","doi":"https://doi.org/10.1109/icra46639.2022.9812343"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812343","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812343","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5020888957","display_name":"Qi Heng Ho","orcid":"https://orcid.org/0009-0006-0743-9341"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Qi Heng Ho","raw_affiliation_strings":["University of Colorado,department of Aerospace Engineering Sciences,Boulder,CO,USA","department of Aerospace Engineering Sciences, University of Colorado, Boulder, CO, USA"],"affiliations":[{"raw_affiliation_string":"University of Colorado,department of Aerospace Engineering Sciences,Boulder,CO,USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"department of Aerospace Engineering Sciences, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054686855","display_name":"Zachary N. Sunberg","orcid":"https://orcid.org/0000-0001-9707-3035"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary N. Sunberg","raw_affiliation_strings":["University of Colorado,department of Aerospace Engineering Sciences,Boulder,CO,USA","department of Aerospace Engineering Sciences, University of Colorado, Boulder, CO, USA"],"affiliations":[{"raw_affiliation_string":"University of Colorado,department of Aerospace Engineering Sciences,Boulder,CO,USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"department of Aerospace Engineering Sciences, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069564559","display_name":"Morteza Lahijanian","orcid":"https://orcid.org/0000-0001-7549-4365"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Morteza Lahijanian","raw_affiliation_strings":["University of Colorado,department of Aerospace Engineering Sciences,Boulder,CO,USA","department of Aerospace Engineering Sciences, University of Colorado, Boulder, CO, USA"],"affiliations":[{"raw_affiliation_string":"University of Colorado,department of Aerospace Engineering Sciences,Boulder,CO,USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"department of Aerospace Engineering Sciences, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5020888957"],"corresponding_institution_ids":["https://openalex.org/I188538660"],"apc_list":null,"apc_paid":null,"fwci":1.0779,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.84705465,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"11029","last_page":"11035"},"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":0.9937999844551086,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/gaussian","display_name":"Gaussian","score":0.5498103499412537},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5178885459899902},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4844977557659149},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.48393967747688293},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4802584946155548},{"id":"https://openalex.org/keywords/asymptotically-optimal-algorithm","display_name":"Asymptotically optimal algorithm","score":0.46747255325317383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40139240026474},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35523521900177},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.084522545337677},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08262234926223755}],"concepts":[{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5498103499412537},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5178885459899902},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4844977557659149},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.48393967747688293},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4802584946155548},{"id":"https://openalex.org/C181789720","wikidata":"https://www.wikidata.org/wiki/Q4812191","display_name":"Asymptotically optimal algorithm","level":2,"score":0.46747255325317383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40139240026474},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35523521900177},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.084522545337677},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08262234926223755},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812343","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812343","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6700000166893005}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332538","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W107848263","https://openalex.org/W131069610","https://openalex.org/W341854258","https://openalex.org/W1480152866","https://openalex.org/W1529817735","https://openalex.org/W1752118222","https://openalex.org/W1756618330","https://openalex.org/W1971086298","https://openalex.org/W1976422186","https://openalex.org/W1999131722","https://openalex.org/W2032100464","https://openalex.org/W2053833381","https://openalex.org/W2101496914","https://openalex.org/W2103052138","https://openalex.org/W2110762409","https://openalex.org/W2128990851","https://openalex.org/W2132990760","https://openalex.org/W2143826757","https://openalex.org/W2156123119","https://openalex.org/W2161129003","https://openalex.org/W2168359464","https://openalex.org/W2168992242","https://openalex.org/W2171266831","https://openalex.org/W2289207600","https://openalex.org/W2529897673","https://openalex.org/W2565125300","https://openalex.org/W2617410115","https://openalex.org/W2772834569","https://openalex.org/W2795496197","https://openalex.org/W2807841289","https://openalex.org/W2913279531","https://openalex.org/W2964163353","https://openalex.org/W3103787556","https://openalex.org/W3133339979","https://openalex.org/W3214464180","https://openalex.org/W4285102417","https://openalex.org/W6605295560","https://openalex.org/W6731298029"],"related_works":["https://openalex.org/W3148718598","https://openalex.org/W2163788280","https://openalex.org/W2012749513","https://openalex.org/W1764572413","https://openalex.org/W2105238802","https://openalex.org/W3150915502","https://openalex.org/W4211055164","https://openalex.org/W2288650507","https://openalex.org/W2169866437","https://openalex.org/W1964286703"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"address":[4],"the":[5,42,59,64,72,77],"problem":[6],"of":[7,71,79],"sampling-based":[8],"motion":[9,12,24],"planning":[10,25],"under":[11],"and":[13,30,55,67,88,96],"measurement":[14],"un-certainty":[15],"with":[16],"probabilistic":[17,65],"guarantees.":[18],"We":[19,50,75],"generalize":[20],"traditional":[21],"sampling-based,":[22],"tree-based":[23,39],"algorithms":[26],"for":[27,45,58,82,93],"deterministic":[28],"systems":[29],"propose":[31],"belief-A,":[32],"a":[33],"framework":[34],"that":[35,62],"extends":[36],"any":[37],"kinodynamical":[38],"planner":[40],"to":[41],"belief":[43,60],"space":[44,61],"linear":[46],"(or":[47],"linearizable)":[48],"systems.":[49,98],"introduce":[51],"appropriate":[52],"sampling":[53],"techniques":[54],"distance":[56],"metrics":[57],"preserve":[63],"completeness":[66],"asymptotic":[68],"optimality":[69],"properties":[70],"underlying":[73],"planner.":[74],"demonstrate":[76],"efficacy":[78],"our":[80],"approach":[81],"finding":[83],"safe":[84],"low-cost":[85],"paths":[86],"efficiently":[87],"asymptotically":[89],"optimally":[90],"in":[91],"simulation,":[92],"both":[94],"holonomic":[95],"non-holonomic":[97]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}
