{"id":"https://openalex.org/W3093250001","doi":"https://doi.org/10.1109/icra48506.2021.9561614","title":"Piecewise-Linear Motion Planning amidst Static, Moving, or Morphing Obstacles","display_name":"Piecewise-Linear Motion Planning amidst Static, Moving, or Morphing Obstacles","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3093250001","doi":"https://doi.org/10.1109/icra48506.2021.9561614","mag":"3093250001"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561614","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561614","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2010.08167","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039961664","display_name":"Bachir El Khadir","orcid":"https://orcid.org/0000-0002-1132-6271"},"institutions":[{"id":"https://openalex.org/I1341412227","display_name":"IBM (United States)","ror":"https://ror.org/05hh8d621","country_code":"US","type":"company","lineage":["https://openalex.org/I1341412227"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Bachir El Khadir","raw_affiliation_strings":["IBM Watson Research Center,NY,USA,10598","IBM"],"affiliations":[{"raw_affiliation_string":"IBM Watson Research Center,NY,USA,10598","institution_ids":["https://openalex.org/I1341412227"]},{"raw_affiliation_string":"IBM","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006670993","display_name":"Jean B. Lasserre","orcid":"https://orcid.org/0000-0003-0860-9913"},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean Bernard Lasserre","raw_affiliation_strings":["Institute of Mathematics, University of Toulouse,Laboratoire d&#x2019;Analyse et d&#x2019;Architecture des Syst&#x00E8;mes (LAAS),France","Laboratory for analysis and architecture of systems"],"affiliations":[{"raw_affiliation_string":"Institute of Mathematics, University of Toulouse,Laboratoire d&#x2019;Analyse et d&#x2019;Architecture des Syst&#x00E8;mes (LAAS),France","institution_ids":["https://openalex.org/I190497903"]},{"raw_affiliation_string":"Laboratory for analysis and architecture of systems","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058073838","display_name":"Vikas Sindhwani","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vikas Sindhwani","raw_affiliation_strings":["Robotics at Google,New York City,NY,USA,10011","Google,,,,,"],"affiliations":[{"raw_affiliation_string":"Robotics at Google,New York City,NY,USA,10011","institution_ids":["https://openalex.org/I1291425158"]},{"raw_affiliation_string":"Google,,,,,","institution_ids":["https://openalex.org/I1291425158"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5039961664"],"corresponding_institution_ids":["https://openalex.org/I1341412227"],"apc_list":null,"apc_paid":null,"fwci":0.2913,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.52961706,"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":"7802","last_page":"7808"},"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9829000234603882,"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/morphing","display_name":"Morphing","score":0.7145408987998962},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6826596856117249},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6570245623588562},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.5858803987503052},{"id":"https://openalex.org/keywords/piecewise-linear-function","display_name":"Piecewise linear function","score":0.584434449672699},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.5390979051589966},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5390123724937439},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.48920321464538574},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.44363951683044434},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43169087171554565},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.4278002977371216},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41884270310401917},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.418089359998703},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12594154477119446},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10832777619361877}],"concepts":[{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.7145408987998962},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6826596856117249},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6570245623588562},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.5858803987503052},{"id":"https://openalex.org/C17095337","wikidata":"https://www.wikidata.org/wiki/Q2375229","display_name":"Piecewise linear function","level":2,"score":0.584434449672699},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.5390979051589966},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5390123724937439},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.48920321464538574},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.44363951683044434},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43169087171554565},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.4278002977371216},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41884270310401917},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.418089359998703},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12594154477119446},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10832777619361877},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra48506.2021.9561614","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561614","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:2010.08167","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.08167","pdf_url":"https://arxiv.org/pdf/2010.08167","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"},{"id":"mag:3093250001","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2010.08167","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:HAL:hal-02971806v1","is_oa":false,"landing_page_url":"https://laas.hal.science/hal-02971806","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.icra2021.org/index.aspx","raw_type":"Conference papers"},{"id":"doi:10.48550/arxiv.2010.08167","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2010.08167","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:2010.08167","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.08167","pdf_url":"https://arxiv.org/pdf/2010.08167","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":0.75,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G3879958799","display_name":null,"funder_award_id":"19-PI3A-0004","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G602161992","display_name":null,"funder_award_id":"ANR-19-PI3A-0004","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G6851345361","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G8318455765","display_name":null,"funder_award_id":"ANR-19","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3093250001.pdf","grobid_xml":"https://content.openalex.org/works/W3093250001.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W404764422","https://openalex.org/W1516027685","https://openalex.org/W1595344979","https://openalex.org/W1712772804","https://openalex.org/W1964603869","https://openalex.org/W1965554877","https://openalex.org/W1967344706","https://openalex.org/W1971086298","https://openalex.org/W2014151532","https://openalex.org/W2019965290","https://openalex.org/W2042106485","https://openalex.org/W2052557161","https://openalex.org/W2071550336","https://openalex.org/W2079135578","https://openalex.org/W2083093559","https://openalex.org/W2103120971","https://openalex.org/W2104332709","https://openalex.org/W2110144538","https://openalex.org/W2142224528","https://openalex.org/W2166798101","https://openalex.org/W2427487793","https://openalex.org/W2611243847","https://openalex.org/W2735847404","https://openalex.org/W2736013428","https://openalex.org/W2912522929","https://openalex.org/W2949117375","https://openalex.org/W2950958242","https://openalex.org/W2962738843","https://openalex.org/W2963621695","https://openalex.org/W3104753760","https://openalex.org/W3158310418","https://openalex.org/W4399469378","https://openalex.org/W6729591484","https://openalex.org/W6753683541"],"related_works":["https://openalex.org/W3206336571","https://openalex.org/W2964159790","https://openalex.org/W3120710284","https://openalex.org/W1980545315","https://openalex.org/W2940305016","https://openalex.org/W136844599","https://openalex.org/W1975634115","https://openalex.org/W2909663994","https://openalex.org/W43785935","https://openalex.org/W3197338512","https://openalex.org/W2559038552","https://openalex.org/W62898964","https://openalex.org/W2476273236","https://openalex.org/W3095001354","https://openalex.org/W3127940042","https://openalex.org/W2973967943","https://openalex.org/W757502775","https://openalex.org/W2151574275","https://openalex.org/W2541531310","https://openalex.org/W97709917"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,23,29],"novel":[3],"method":[4],"for":[5,60],"planning":[6],"shortest":[7],"length":[8],"piecewise-linear":[9],"motions":[10],"through":[11],"complex":[12],"environments":[13],"punctured":[14],"with":[15,75],"static,":[16],"moving,":[17],"or":[18],"even":[19],"morphing":[20],"obstacles.":[21],"Using":[22],"moment":[24,49],"optimization":[25,50,79],"approach,":[26],"we":[27,66],"formulate":[28],"hierarchy":[30],"of":[31],"semidefinite":[32],"programs":[33],"that":[34],"yield":[35],"increasingly":[36],"refined":[37],"lower":[38],"bounds":[39],"converging":[40],"monotonically":[41],"to":[42],"the":[43],"optimal":[44],"path":[45],"length.":[46],"Our":[47],"global":[48],"approach":[51],"natively":[52],"handles":[53],"continuous":[54],"time":[55,61],"constraints":[56],"without":[57],"any":[58],"need":[59],"discretization.":[62],"For":[63],"computational":[64],"tractability,":[65],"derive":[67],"an":[68],"iterative":[69],"motion":[70],"planner":[71],"which":[72],"compares":[73],"favorably":[74],"sampling-based":[76],"and":[77],"nonlinear":[78],"baselines.":[80]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
