{"id":"https://openalex.org/W3205160604","doi":"https://doi.org/10.1109/icra48506.2021.9561533","title":"MS2MP: A Min-Sum Message Passing Algorithm for Motion Planning","display_name":"MS2MP: A Min-Sum Message Passing Algorithm for Motion Planning","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205160604","doi":"https://doi.org/10.1109/icra48506.2021.9561533","mag":"3205160604"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561533","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 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/2203.03201","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083519331","display_name":"Salman Bari","orcid":"https://orcid.org/0000-0003-2321-2922"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Salman Bari","raw_affiliation_strings":["Technical University of Munich,Automatic Control Engineering (LSR),Department of Electrical and Computer Engineering,Germany","Department of Electrical and Computer Engineering, Automatic Control Engineering (LSR), Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Automatic Control Engineering (LSR),Department of Electrical and Computer Engineering,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Automatic Control Engineering (LSR), Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078469731","display_name":"Volker Gabler","orcid":"https://orcid.org/0000-0002-9915-213X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Volker Gabler","raw_affiliation_strings":["Technical University of Munich,Automatic Control Engineering (LSR),Department of Electrical and Computer Engineering,Germany","Department of Electrical and Computer Engineering, Automatic Control Engineering (LSR), Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Automatic Control Engineering (LSR),Department of Electrical and Computer Engineering,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Automatic Control Engineering (LSR), Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061769472","display_name":"Dirk Wollherr","orcid":"https://orcid.org/0000-0003-2810-6790"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Wollherr","raw_affiliation_strings":["Technical University of Munich,Automatic Control Engineering (LSR),Department of Electrical and Computer Engineering,Germany","Department of Electrical and Computer Engineering, Automatic Control Engineering (LSR), Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Automatic Control Engineering (LSR),Department of Electrical and Computer Engineering,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Automatic Control Engineering (LSR), Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2012","issue":null,"first_page":"7887","last_page":"7893"},"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":0.9937999844551086,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9908000230789185,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/message-passing","display_name":"Message passing","score":0.7374904751777649},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7201805114746094},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39530515670776367},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.36644890904426575},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.33439627289772034}],"concepts":[{"id":"https://openalex.org/C854659","wikidata":"https://www.wikidata.org/wiki/Q1859284","display_name":"Message passing","level":2,"score":0.7374904751777649},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7201805114746094},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39530515670776367},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.36644890904426575},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.33439627289772034}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48506.2021.9561533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561533","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2203.03201","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.03201","pdf_url":"https://arxiv.org/pdf/2203.03201","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":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2203.03201","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.03201","pdf_url":"https://arxiv.org/pdf/2203.03201","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":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W61873113","https://openalex.org/W1424654272","https://openalex.org/W1514989902","https://openalex.org/W1823667034","https://openalex.org/W1983289383","https://openalex.org/W2019965290","https://openalex.org/W2057803073","https://openalex.org/W2064169939","https://openalex.org/W2098678088","https://openalex.org/W2099893201","https://openalex.org/W2107464055","https://openalex.org/W2128765501","https://openalex.org/W2128990851","https://openalex.org/W2131010736","https://openalex.org/W2141664020","https://openalex.org/W2169732368","https://openalex.org/W2273777546","https://openalex.org/W2295255295","https://openalex.org/W2611243847","https://openalex.org/W2736887377","https://openalex.org/W2738024282","https://openalex.org/W2963930094","https://openalex.org/W3102334304","https://openalex.org/W3105459168","https://openalex.org/W4300188436","https://openalex.org/W6602528741","https://openalex.org/W6674866097"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2051487156","https://openalex.org/W2368564840","https://openalex.org/W2489631182","https://openalex.org/W4254638342","https://openalex.org/W2098482419","https://openalex.org/W2054468904","https://openalex.org/W4389325792"],"abstract_inverted_index":{"Gaussian":[0],"Process":[1],"(GP)":[2],"formulation":[3],"of":[4,58,83,146,157,170],"continuous-time":[5],"trajectory":[6,34],"offers":[7],"a":[8,40,93,153,197],"fast":[9,51],"solution":[10,25],"to":[11,27,48,70,87,92,119,128,149],"the":[12,24,32,56,72,81,89,143,151],"motion":[13,193],"planning":[14,181,194],"problem":[15,74,134],"via":[16],"probabilistic":[17],"inference":[18,73],"on":[19,75],"factor":[20,76,85,90,138,147],"graph.":[21,77,96],"However,":[22],"often":[23],"converges":[26],"in-feasible":[28],"local":[29,65],"minima":[30],"and":[31,140,211],"planned":[33],"is":[35,45],"not":[36],"collision-free.":[37],"We":[38,54,78,97,183],"propose":[39],"message":[41,60,117],"passing":[42,61,118,161],"algorithm":[43,62,101,107,186],"that":[44,63,112,203],"more":[46],"sensitive":[47],"obstacles":[49,178],"with":[50,116],"convergence":[52,209],"time.":[53],"leverage":[55],"utility":[57],"min-sum":[59],"performs":[64,125],"computations":[66],"at":[67,135],"each":[68,136,171],"node":[69,86,139,173],"solve":[71,129],"first":[79],"introduce":[80],"notion":[82],"compound":[84,137,172],"transform":[88],"graph":[91,148,159,164],"linearly":[94],"structured":[95],"next":[98],"develop":[99],"an":[100],"denoted":[102],"as":[103],"Min-sum":[104],"Message":[105],"Passing":[106],"for":[108,179,191,196],"Motion":[109],"Planning":[110],"(MS2MP)":[111],"combines":[113],"numerical":[114,126],"optimization":[115,127,168],"find":[120],"collision-":[121],"free":[122],"trajectories.":[123],"MS2MP":[124,204],"non-linear":[130],"least":[131],"square":[132],"minimization":[133],"then":[141],"exploits":[142],"linear":[144],"structure":[145],"compute":[150],"maximum":[152],"posteriori":[154],"(MAP)":[155],"estimation":[156],"complete":[158],"by":[160,187],"messages":[162],"among":[163],"nodes.":[165],"The":[166],"decentralized":[167],"approach":[169],"increases":[174],"sensitivity":[175],"towards":[176],"avoiding":[177],"harder":[180],"problems.":[182],"evaluate":[184],"our":[185],"performing":[188],"extensive":[189],"experiments":[190],"exemplary":[192],"tasks":[195],"robot":[198],"manipulator.":[199],"Our":[200],"evaluation":[201],"reveals":[202],"improves":[205],"existing":[206],"work":[207],"in":[208],"time":[210],"success":[212],"rate.":[213]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}