{"id":"https://openalex.org/W4383097661","doi":"https://doi.org/10.1109/icra48891.2023.10161378","title":"Density Planner: Minimizing Collision Risk in Motion Planning with Dynamic Obstacles using Density-based Reachability","display_name":"Density Planner: Minimizing Collision Risk in Motion Planning with Dynamic Obstacles using Density-based Reachability","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383097661","doi":"https://doi.org/10.1109/icra48891.2023.10161378"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161378","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161378","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":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1721535","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016586979","display_name":"Laura L\u00fctzow","orcid":"https://orcid.org/0009-0006-0745-4592"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"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"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Laura L\u00fctzow","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany","Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, USA","Department of Informatics, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032311706","display_name":"Yue Meng","orcid":"https://orcid.org/0000-0001-7623-2228"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yue Meng","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Aeronautics and Astronautics,USA","Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Aeronautics and Astronautics,USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072528080","display_name":"Andres Chavez Armijos","orcid":null},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andres Chavez Armijos","raw_affiliation_strings":["Boston University,Division of Systems Engineering,USA","Division of Systems Engineering, Boston University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston University,Division of Systems Engineering,USA","institution_ids":["https://openalex.org/I111088046"]},{"raw_affiliation_string":"Division of Systems Engineering, Boston University, USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019603699","display_name":"Chuchu Fan","orcid":"https://orcid.org/0000-0003-4671-233X"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chuchu Fan","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Aeronautics and Astronautics,USA","Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Aeronautics and Astronautics,USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7886","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":0.9979000091552734,"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":0.9979000091552734,"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":0.9955000281333923,"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":0.9940999746322632,"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/computer-science","display_name":"Computer science","score":0.6964597702026367},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6725755929946899},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.596859335899353},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.520899772644043},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.49592289328575134},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4483998417854309},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4308583736419678},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42636173963546753},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.40210893750190735},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34421780705451965},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3070257902145386},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2244630753993988},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1585906744003296}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6964597702026367},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6725755929946899},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.596859335899353},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.520899772644043},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.49592289328575134},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4483998417854309},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4308583736419678},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42636173963546753},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40210893750190735},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34421780705451965},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3070257902145386},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2244630753993988},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1585906744003296}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10161378","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161378","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:mediatum.ub.tum.de:node/1721535","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1721535","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1721535","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1721535","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.699999988079071}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320875","display_name":"Deutscher Akademischer Austauschdienst","ror":"https://ror.org/039djdh30"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W89102525","https://openalex.org/W1594682877","https://openalex.org/W1858982327","https://openalex.org/W1981936413","https://openalex.org/W2072195747","https://openalex.org/W2119974577","https://openalex.org/W2313274380","https://openalex.org/W2535500466","https://openalex.org/W2557055507","https://openalex.org/W2594346128","https://openalex.org/W2750147881","https://openalex.org/W2890685830","https://openalex.org/W2897623894","https://openalex.org/W2915595862","https://openalex.org/W2941647785","https://openalex.org/W2944512046","https://openalex.org/W2963293783","https://openalex.org/W2963343478","https://openalex.org/W2964011539","https://openalex.org/W2964337106","https://openalex.org/W3002873949","https://openalex.org/W3011860312","https://openalex.org/W3038336465","https://openalex.org/W3044582844","https://openalex.org/W3045752705","https://openalex.org/W3045815164","https://openalex.org/W3118240751","https://openalex.org/W3130883310","https://openalex.org/W3183437454","https://openalex.org/W3195996938","https://openalex.org/W4242811155","https://openalex.org/W4285142465","https://openalex.org/W4293363567","https://openalex.org/W6759752551","https://openalex.org/W6786268631","https://openalex.org/W6800160330","https://openalex.org/W6801832226"],"related_works":["https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2067910792","https://openalex.org/W2156446763","https://openalex.org/W2143461633","https://openalex.org/W2150194458","https://openalex.org/W4321471459","https://openalex.org/W2889071233","https://openalex.org/W2380814829","https://openalex.org/W2387511021"],"abstract_inverted_index":{"Uncertainty":[0],"is":[1,123],"prevalent":[2],"in":[3,34],"robotics.":[4],"Due":[5],"to":[6,28,54,82,128],"measurement":[7],"noise":[8],"and":[9,18,50,72,95,101,110,134],"complex":[10],"dynamics,":[11],"we":[12,39],"cannot":[13],"estimate":[14],"the":[15,51,56,84,119],"exact":[16],"system":[17,61],"environment":[19],"state.":[20,66],"Since":[21],"conservative":[22],"motion":[23,89],"planners":[24],"are":[25],"not":[26],"guaranteed":[27],"find":[29],"a":[30,35,41,47,60,78],"safe":[31,74],"control":[32,109],"strategy":[33],"crowded,":[36],"uncertain":[37,64],"environment,":[38],"propose":[40],"density-based":[42],"method.":[43],"Our":[44],"approach":[45],"uses":[46],"neural":[48],"network":[49],"Liouville":[52],"equation":[53],"learn":[55],"density":[57],"evolution":[58],"for":[59,70],"with":[62],"an":[63],"initial":[65],"We":[67,87],"can":[68,137],"plan":[69],"feasible":[71],"probably":[73],"trajectories":[75],"by":[76],"applying":[77],"gradient-based":[79],"optimization":[80],"procedure":[81],"minimize":[83],"collision":[85],"risk.":[86],"conduct":[88],"planning":[90],"experiments":[91],"on":[92],"simulated":[93],"environments":[94,96],"generated":[97],"from":[98],"real-world":[99],"data":[100],"outperform":[102],"baseline":[103],"methods":[104],"such":[105],"as":[106],"model":[107,129],"predictive":[108,130],"nonlinear":[111],"programming.":[112],"While":[113],"our":[114],"method":[115],"requires":[116],"offline":[117],"planning,":[118],"online":[120],"run":[121],"time":[122],"100":[124],"times":[125],"smaller":[126],"compared":[127],"control.":[131],"The":[132],"code":[133],"supplementary":[135],"material":[136],"be":[138],"found":[139],"at":[140],"https://mit-realm.github.io/density_planner/.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}