{"id":"https://openalex.org/W3206383290","doi":"https://doi.org/10.1109/icra48506.2021.9562036","title":"Accelerating combinatorial filter reduction through constraints","display_name":"Accelerating combinatorial filter reduction through constraints","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206383290","doi":"https://doi.org/10.1109/icra48506.2021.9562036","mag":"3206383290"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9562036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562036","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":"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/A5029749178","display_name":"Yulin Zhang","orcid":"https://orcid.org/0000-0003-1833-7456"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yulin Zhang","raw_affiliation_strings":["Texas A&#x0026;M University,Dept. of Computer Science and Engineering,College Station,TX,USA","M University, College Station, TX, USA"],"affiliations":[{"raw_affiliation_string":"Texas A&#x0026;M University,Dept. of Computer Science and Engineering,College Station,TX,USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009459595","display_name":"Hazhar Rahmani","orcid":"https://orcid.org/0000-0002-6342-2273"},"institutions":[{"id":"https://openalex.org/I155781252","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903","country_code":"US","type":"education","lineage":["https://openalex.org/I155781252"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hazhar Rahmani","raw_affiliation_strings":["University of South Carolina,Dept. of Computer Science and Engineering,Columbia,SC,USA","Dept. of Computer Science and Engineering, University of South Carolina, Columbia, SC, USA"],"affiliations":[{"raw_affiliation_string":"University of South Carolina,Dept. of Computer Science and Engineering,Columbia,SC,USA","institution_ids":["https://openalex.org/I155781252"]},{"raw_affiliation_string":"Dept. of Computer Science and Engineering, University of South Carolina, Columbia, SC, USA","institution_ids":["https://openalex.org/I155781252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035574727","display_name":"Dylan A. Shell","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dylan A. Shell","raw_affiliation_strings":["Texas A&#x0026;M University,Dept. of Computer Science and Engineering,College Station,TX,USA","M University, College Station, TX, USA"],"affiliations":[{"raw_affiliation_string":"Texas A&#x0026;M University,Dept. of Computer Science and Engineering,College Station,TX,USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089976123","display_name":"Jason M. O\u2019Kane","orcid":"https://orcid.org/0000-0002-1536-4822"},"institutions":[{"id":"https://openalex.org/I155781252","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903","country_code":"US","type":"education","lineage":["https://openalex.org/I155781252"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jason M. O'Kane","raw_affiliation_strings":["University of South Carolina,Dept. of Computer Science and Engineering,Columbia,SC,USA","Dept. of Computer Science and Engineering, University of South Carolina, Columbia, SC, USA"],"affiliations":[{"raw_affiliation_string":"University of South Carolina,Dept. of Computer Science and Engineering,Columbia,SC,USA","institution_ids":["https://openalex.org/I155781252"]},{"raw_affiliation_string":"Dept. of Computer Science and Engineering, University of South Carolina, Columbia, SC, USA","institution_ids":["https://openalex.org/I155781252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5029749178"],"corresponding_institution_ids":["https://openalex.org/I91045830"],"apc_list":null,"apc_paid":null,"fwci":0.4439,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.68135872,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"b 2020 1","issue":null,"first_page":"9703","last_page":"9709"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9961000084877014,"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":0.9957000017166138,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.7631452083587646},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7243373990058899},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6267600059509277},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5846419930458069},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5690537095069885},{"id":"https://openalex.org/keywords/conjunctive-normal-form","display_name":"Conjunctive normal form","score":0.5138161778450012},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.43351346254348755},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.41856417059898376},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.41532373428344727},{"id":"https://openalex.org/keywords/combinatorial-optimization","display_name":"Combinatorial optimization","score":0.4106605052947998},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3685714900493622},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3139244318008423},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19476372003555298}],"concepts":[{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.7631452083587646},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7243373990058899},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6267600059509277},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5846419930458069},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5690537095069885},{"id":"https://openalex.org/C16221470","wikidata":"https://www.wikidata.org/wiki/Q846564","display_name":"Conjunctive normal form","level":2,"score":0.5138161778450012},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.43351346254348755},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.41856417059898376},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.41532373428344727},{"id":"https://openalex.org/C52692508","wikidata":"https://www.wikidata.org/wiki/Q1333872","display_name":"Combinatorial optimization","level":2,"score":0.4106605052947998},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3685714900493622},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3139244318008423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19476372003555298},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9562036","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562036","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1507963034","https://openalex.org/W1970686950","https://openalex.org/W2000988734","https://openalex.org/W2002089154","https://openalex.org/W2056141172","https://openalex.org/W2091394515","https://openalex.org/W2121666081","https://openalex.org/W2166706645","https://openalex.org/W2318947894","https://openalex.org/W2461357515","https://openalex.org/W2551987979","https://openalex.org/W2617186574","https://openalex.org/W2748134142","https://openalex.org/W2883911422","https://openalex.org/W2891561662","https://openalex.org/W2963082139","https://openalex.org/W3023353424","https://openalex.org/W3023950925","https://openalex.org/W3035922524","https://openalex.org/W3090049818","https://openalex.org/W3198139931","https://openalex.org/W4302339081","https://openalex.org/W6677908636","https://openalex.org/W6759803958","https://openalex.org/W6776827245"],"related_works":["https://openalex.org/W2474680198","https://openalex.org/W2597689725","https://openalex.org/W2623227928","https://openalex.org/W2363855676","https://openalex.org/W1569102320","https://openalex.org/W4381955737","https://openalex.org/W2770186408","https://openalex.org/W4385652378","https://openalex.org/W2049828308","https://openalex.org/W2998274290"],"abstract_inverted_index":{"Reduction":[0],"of":[1,18,54,99,115],"combinatorial":[2,23],"filters":[3],"involves":[4],"compressing":[5],"state":[6],"representations":[7],"that":[8,73,88,95],"robots":[9],"use.":[10],"Such":[11],"optimization":[12],"arises":[13],"in":[14,60,75,121],"automating":[15],"the":[16,80,90,125],"construction":[17],"minimalist":[19],"robots.":[20],"But":[21],"exact":[22],"filter":[24,105],"reduction":[25],"is":[26],"an":[27],"NP-complete":[28],"problem":[29,81],"and":[30,56,66,123],"all":[31],"current":[32],"techniques":[33],"are":[34],"either":[35],"inexact":[36],"or":[37],"formalized":[38],"with":[39],"exponentially":[40],"many":[41],"constraints.":[42],"This":[43],"paper":[44],"proposes":[45],"a":[46,51,86,96],"new":[47],"formalization":[48],"needing":[49],"only":[50],"polynomial":[52],"number":[53],"constraints,":[55,117],"characterizes":[57],"these":[58],"constraints":[59,74,100],"three":[61],"different":[62],"forms:":[63],"nonlinear,":[64],"linear,":[65],"conjunctive":[67,76],"normal":[68,77],"form.":[69],"Empirical":[70],"results":[71],"show":[72],"form":[78],"capture":[79],"most":[82],"effectively,":[83],"leading":[84],"to":[85,127],"method":[87],"outperforms":[89],"others.":[91],"Further":[92],"examination":[93],"indicates":[94],"substantial":[97],"proportion":[98],"remain":[101],"inactive":[102],"during":[103],"iterative":[104],"reduction.":[106],"To":[107],"leverage":[108],"this":[109],"observation,":[110],"we":[111],"introduce":[112],"just-in-time":[113],"generation":[114],"such":[116],"which":[118],"yields":[119],"improvements":[120],"efficiency":[122],"has":[124],"potential":[126],"minimize":[128],"large":[129],"filters.":[130]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
