{"id":"https://openalex.org/W4383109321","doi":"https://doi.org/10.1109/icra48891.2023.10160214","title":"VP-STO: Via-point-based Stochastic Trajectory Optimization for Reactive Robot Behavior","display_name":"VP-STO: Via-point-based Stochastic Trajectory Optimization for Reactive Robot Behavior","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109321","doi":"https://doi.org/10.1109/icra48891.2023.10160214"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160214","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160214","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/201460","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019294715","display_name":"Julius Jankowski","orcid":"https://orcid.org/0000-0003-0890-1965"},"institutions":[{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Julius Jankowski","raw_affiliation_strings":["Idiap Research Institute,Martigny,CH","Idiap Research Institute, Martigny, CH"],"affiliations":[{"raw_affiliation_string":"Idiap Research Institute,Martigny,CH","institution_ids":["https://openalex.org/I7495430"]},{"raw_affiliation_string":"Idiap Research Institute, Martigny, CH","institution_ids":["https://openalex.org/I7495430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043997712","display_name":"Lara Bruderm\u00fcller","orcid":"https://orcid.org/0000-0001-6217-1399"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lara Bruderm\u00fcller","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,UK","Oxford Robotics Institute, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059686746","display_name":"Nick Hawes","orcid":"https://orcid.org/0000-0002-7556-6098"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nick Hawes","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,UK","Oxford Robotics Institute, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,UK","institution_ids":["https://openalex.org/I40120149"]},{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048780399","display_name":"Sylvain Calinon","orcid":"https://orcid.org/0000-0002-9036-6799"},"institutions":[{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Sylvain Calinon","raw_affiliation_strings":["Idiap Research Institute,Martigny,CH","Idiap Research Institute, Martigny, CH"],"affiliations":[{"raw_affiliation_string":"Idiap Research Institute,Martigny,CH","institution_ids":["https://openalex.org/I7495430"]},{"raw_affiliation_string":"Idiap Research Institute, Martigny, CH","institution_ids":["https://openalex.org/I7495430"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5019294715"],"corresponding_institution_ids":["https://openalex.org/I7495430"],"apc_list":null,"apc_paid":null,"fwci":3.8867,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.95046387,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"10125","last_page":"10131"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"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":0.9983000159263611,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9975000023841858,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/trajectory","display_name":"Trajectory","score":0.8408119678497314},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7438783645629883},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.7140368223190308},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6743761897087097},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.656779944896698},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6162400841712952},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5195215344429016},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5030714869499207},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4832080602645874},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4590394198894501},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41450393199920654},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4133959710597992},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3831876814365387},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3371950387954712},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.29436194896698},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2901921272277832},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24157708883285522},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16912612318992615},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11302277445793152},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09792909026145935}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8408119678497314},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7438783645629883},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.7140368223190308},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6743761897087097},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.656779944896698},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6162400841712952},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5195215344429016},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5030714869499207},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4832080602645874},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4590394198894501},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41450393199920654},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4133959710597992},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3831876814365387},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3371950387954712},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.29436194896698},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2901921272277832},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24157708883285522},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16912612318992615},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11302277445793152},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09792909026145935},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10160214","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160214","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:305878","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/201460","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:305878","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/201460","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"conference proceedings"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3105706333","display_name":null,"funder_award_id":"EP/V000748/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W29648111","https://openalex.org/W1550895009","https://openalex.org/W1567473651","https://openalex.org/W1577352482","https://openalex.org/W2009812633","https://openalex.org/W2019965290","https://openalex.org/W2059493488","https://openalex.org/W2142224528","https://openalex.org/W2161819990","https://openalex.org/W2410617946","https://openalex.org/W2584986912","https://openalex.org/W2764023367","https://openalex.org/W3129734059","https://openalex.org/W4210757364","https://openalex.org/W4298392834","https://openalex.org/W4312760748","https://openalex.org/W4324106947","https://openalex.org/W6702989015","https://openalex.org/W6790128743","https://openalex.org/W6801436214"],"related_works":["https://openalex.org/W3101253900","https://openalex.org/W2347892399","https://openalex.org/W2133687134","https://openalex.org/W3038596169","https://openalex.org/W345637666","https://openalex.org/W1527727992","https://openalex.org/W1532677580","https://openalex.org/W2001900524","https://openalex.org/W1531114845","https://openalex.org/W2917916498"],"abstract_inverted_index":{"Achieving":[0],"reactive":[1],"robot":[2,54,90,119],"behavior":[3],"in":[4,48,67,92,115],"complex":[5],"dynamic":[6],"environments":[7],"is":[8],"still":[9],"challenging":[10],"as":[11,105],"it":[12],"relies":[13],"on":[14,121],"being":[15,95],"able":[16],"to":[17],"solve":[18],"trajectory":[19,60,69],"optimization":[20,70,77],"problems":[21],"quickly":[22],"enough,":[23],"such":[24,104],"that":[25,45,79],"we":[26,73],"can":[27,99],"replan":[28],"the":[29,39,63,68],"future":[30],"motion":[31,76],"at":[32,41],"frequencies":[33],"which":[34],"are":[35],"sufficiently":[36],"high":[37],"for":[38,53],"task":[40],"hand.":[42],"We":[43],"argue":[44],"current":[46],"limitations":[47],"Model":[49],"Predictive":[50],"Control":[51],"(MPC)":[52],"manipulators":[55],"arise":[56],"from":[57],"inefficient,":[58],"high-dimensional":[59],"representations":[61],"and":[62,84,88,108,117],"negligence":[64],"of":[65],"time-optimality":[66],"process.":[71],"Therefore,":[72],"propose":[74],"a":[75],"framework":[78],"optimizes":[80],"jointly":[81],"over":[82],"space":[83],"time,":[85],"generating":[86],"smooth":[87],"timing-optimal":[89],"trajectories":[91],"joint-space.":[93],"While":[94],"task-agnostic,":[96],"our":[97],"formulation":[98],"incorporate":[100],"additional":[101,125],"task-specific":[102],"requirements,":[103],"collision":[106],"avoidance,":[107],"yet":[109],"maintain":[110],"real-time":[111],"control":[112],"rates,":[113],"demonstrated":[114],"simulation":[116],"real-world":[118],"experiments":[120],"closed-loop":[122],"manipulation.":[123],"For":[124],"material,":[126],"please":[127],"visit":[128],"https://sites.google.com/oxfordrobotics.institute/vp-sto.":[129]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}