{"id":"https://openalex.org/W3172706772","doi":"https://doi.org/10.1109/icra48506.2021.9561661","title":"Strobe: An Acceleration Meta-algorithm for Optimizing Robot Paths using Concurrent Interleaved Sub-Epoch Pods","display_name":"Strobe: An Acceleration Meta-algorithm for Optimizing Robot Paths using Concurrent Interleaved Sub-Epoch Pods","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3172706772","doi":"https://doi.org/10.1109/icra48506.2021.9561661","mag":"3172706772"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561661","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/2106.00153","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006252401","display_name":"Daniel Rakita","orcid":"https://orcid.org/0000-0001-6292-8515"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Daniel Rakita","raw_affiliation_strings":["Department of Computer Sciences, University of Wisconsin\u2013Madison, Madison, USA","University of Wisconsin-Madison, #TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Sciences, University of Wisconsin\u2013Madison, Madison, USA","institution_ids":["https://openalex.org/I135310074"]},{"raw_affiliation_string":"University of Wisconsin-Madison, #TAB#","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017344436","display_name":"Bilge Mutlu","orcid":"https://orcid.org/0000-0002-9456-1495"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bilge Mutlu","raw_affiliation_strings":["Department of Computer Sciences, University of Wisconsin\u2013Madison, Madison, USA","University of Wisconsin-Madison, #TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Sciences, University of Wisconsin\u2013Madison, Madison, USA","institution_ids":["https://openalex.org/I135310074"]},{"raw_affiliation_string":"University of Wisconsin-Madison, #TAB#","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084778474","display_name":"Michael Gleicher","orcid":"https://orcid.org/0000-0003-3295-4071"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Gleicher","raw_affiliation_strings":["Department of Computer Sciences, University of Wisconsin\u2013Madison, Madison, USA","University of Wisconsin-Madison, #TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Sciences, University of Wisconsin\u2013Madison, Madison, USA","institution_ids":["https://openalex.org/I135310074"]},{"raw_affiliation_string":"University of Wisconsin-Madison, #TAB#","institution_ids":["https://openalex.org/I135310074"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006252401"],"corresponding_institution_ids":["https://openalex.org/I135310074"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06496947,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9950","last_page":"9956"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/computer-science","display_name":"Computer science","score":0.7473950982093811},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5698035359382629},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.5654306411743164},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5433592796325684},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.42109912633895874},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4189457595348358},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.36230045557022095}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7473950982093811},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5698035359382629},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.5654306411743164},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5433592796325684},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42109912633895874},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4189457595348358},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.36230045557022095},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561661","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:2106.00153","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2106.00153","pdf_url":"https://arxiv.org/pdf/2106.00153","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:3172706772","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2106.00153","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":"doi:10.48550/arxiv.2106.00153","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2106.00153","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:2106.00153","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2106.00153","pdf_url":"https://arxiv.org/pdf/2106.00153","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":[],"awards":[{"id":"https://openalex.org/G1141085420","display_name":null,"funder_award_id":"80NSSC19M01","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"},{"id":"https://openalex.org/G3631313543","display_name":null,"funder_award_id":"Fellowship","funder_id":"https://openalex.org/F4320308943","funder_display_name":"Microsoft Research"},{"id":"https://openalex.org/G4457590989","display_name":null,"funder_award_id":"1830242","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4521067174","display_name":null,"funder_award_id":"80NSSC19M0124","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"},{"id":"https://openalex.org/G6894402473","display_name":null,"funder_award_id":"Fellowship","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G904406578","display_name":null,"funder_award_id":"830242","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306077","display_name":"Boeing","ror":"https://ror.org/04sm5zn07"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320307764","display_name":"Microsoft","ror":"https://ror.org/00d0nc645"},{"id":"https://openalex.org/F4320308943","display_name":"Microsoft Research","ror":"https://ror.org/00d0nc645"},{"id":"https://openalex.org/F4320322037","display_name":"Nuclear Safety and Security Commission","ror":"https://ror.org/05qk3ge34"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3172706772.pdf","grobid_xml":"https://content.openalex.org/works/W3172706772.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W61873113","https://openalex.org/W131069610","https://openalex.org/W1424654272","https://openalex.org/W1451881698","https://openalex.org/W1945123189","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W1988031530","https://openalex.org/W2019965290","https://openalex.org/W2061983716","https://openalex.org/W2099893201","https://openalex.org/W2101340954","https://openalex.org/W2107464055","https://openalex.org/W2117499659","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2153245297","https://openalex.org/W2155382668","https://openalex.org/W2162218551","https://openalex.org/W2169035848","https://openalex.org/W2171266831","https://openalex.org/W2235234948","https://openalex.org/W2293883387","https://openalex.org/W2611243847","https://openalex.org/W2963888662","https://openalex.org/W2963930094","https://openalex.org/W6605295560","https://openalex.org/W6677756232","https://openalex.org/W7005955626"],"related_works":["https://openalex.org/W3205528093","https://openalex.org/W2805154545","https://openalex.org/W2123259309","https://openalex.org/W1588866005","https://openalex.org/W1654229677","https://openalex.org/W2350754087","https://openalex.org/W2770553004","https://openalex.org/W3006967896","https://openalex.org/W3009848163","https://openalex.org/W793486955","https://openalex.org/W1542667832","https://openalex.org/W2128680814","https://openalex.org/W2167516546","https://openalex.org/W2366444000","https://openalex.org/W2032089828","https://openalex.org/W2005734784","https://openalex.org/W2126971814","https://openalex.org/W2391153228","https://openalex.org/W2080888302","https://openalex.org/W150835568"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4,88],"a":[5,26,47,60,89,104,120],"meta-algorithm":[6,105,143],"intended":[7],"to":[8,22,93,147,162],"accelerate":[9],"many":[10],"existing":[11],"path":[12,28,55,90,124],"optimization":[13,125,129,171],"algorithms.":[14],"The":[15],"central":[16],"idea":[17],"of":[18,65,73,82,122,168],"our":[19,116,142,155],"work":[20],"is":[21,45,56],"strategically":[23],"break":[24],"up":[25],"waypoint":[27],"into":[29],"consecutive":[30],"groupings":[31,99],"called":[32],"\"pods,\"":[33],"then":[34],"optimize":[35],"over":[36,108],"various":[37,128],"pods":[38,64,110],"concurrently":[39],"using":[40,127],"parallel":[41],"processing.":[42],"Each":[43],"pod":[44,98],"assigned":[46],"color,":[48],"either":[49],"blue":[50,95],"or":[51],"red,":[52],"and":[53,96,100,131,170],"the":[54,66,74,80,163],"divided":[57],"in":[58,111,166],"such":[59],"way":[61],"that":[62,106,154],"adjacent":[63],"same":[67],"color":[68,76],"have":[69],"an":[70],"appropriate":[71],"buffer":[72],"opposite":[75],"between":[77,84],"them,":[78],"reducing":[79],"risk":[81],"interference":[83],"concurrent":[85],"computations.":[86],"We":[87,113,139],"splitting":[91],"algorithm":[92],"create":[94],"red":[97],"detail":[101],"steps":[102],"for":[103],"optimizes":[107],"these":[109,145],"parallel.":[112],"assessed":[114],"how":[115,133],"method":[117,156],"works":[118],"on":[119,144],"testbed":[121],"simulated":[123],"scenarios":[126],"tasks":[130,146],"characterize":[132],"it":[134],"scales":[135],"with":[136],"additional":[137],"threads.":[138],"also":[140],"compared":[141,161],"other":[148],"parallelization":[149],"schemes.":[150],"Our":[151],"results":[152],"show":[153],"more":[157],"effectively":[158],"utilizes":[159],"concurrency":[160],"alternatives,":[164],"both":[165],"terms":[167],"speed":[169],"quality.":[172]},"counts_by_year":[],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}
