{"id":"https://openalex.org/W4401414203","doi":"https://doi.org/10.1109/icra57147.2024.10610542","title":"RETRO: Reactive Trajectory Optimization for Real-Time Robot Motion Planning in Dynamic Environments","display_name":"RETRO: Reactive Trajectory Optimization for Real-Time Robot Motion Planning in Dynamic Environments","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414203","doi":"https://doi.org/10.1109/icra57147.2024.10610542"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610542","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5057842142","display_name":"Apan Dastider","orcid":null},"institutions":[{"id":"https://openalex.org/I106165777","display_name":"University of Central Florida","ror":"https://ror.org/036nfer12","country_code":"US","type":"education","lineage":["https://openalex.org/I106165777"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Apan Dastider","raw_affiliation_strings":["University of Central Florida,Department of Electrical and Computer Engineering,Orlando,FL,USA,32816"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Central Florida,Department of Electrical and Computer Engineering,Orlando,FL,USA,32816","institution_ids":["https://openalex.org/I106165777"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hao Fang","orcid":null},"institutions":[{"id":"https://openalex.org/I106165777","display_name":"University of Central Florida","ror":"https://ror.org/036nfer12","country_code":"US","type":"education","lineage":["https://openalex.org/I106165777"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Fang","raw_affiliation_strings":["University of Central Florida,Department of Electrical and Computer Engineering,Orlando,FL,USA,32816"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Central Florida,Department of Electrical and Computer Engineering,Orlando,FL,USA,32816","institution_ids":["https://openalex.org/I106165777"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060908808","display_name":"Mingjie Lin","orcid":"https://orcid.org/0000-0002-3225-4406"},"institutions":[{"id":"https://openalex.org/I106165777","display_name":"University of Central Florida","ror":"https://ror.org/036nfer12","country_code":"US","type":"education","lineage":["https://openalex.org/I106165777"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mingjie Lin","raw_affiliation_strings":["University of Central Florida,Department of Electrical and Computer Engineering,Orlando,FL,USA,32816"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Central Florida,Department of Electrical and Computer Engineering,Orlando,FL,USA,32816","institution_ids":["https://openalex.org/I106165777"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I106165777"],"apc_list":null,"apc_paid":null,"fwci":1.3147,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.8524177,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"8764","last_page":"8770"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10142","display_name":"Formal Methods in Verification","score":0.9908999800682068,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9778000116348267,"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":0.7776786088943481},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6575828790664673},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6350641846656799},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6073188781738281},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.507707953453064},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.47943705320358276},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2546783983707428},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07066285610198975}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7776786088943481},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6575828790664673},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6350641846656799},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6073188781738281},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.507707953453064},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.47943705320358276},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2546783983707428},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07066285610198975},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610542","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6600000262260437,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W143057633","https://openalex.org/W1676686791","https://openalex.org/W1893331914","https://openalex.org/W2018020788","https://openalex.org/W2093524643","https://openalex.org/W2108631580","https://openalex.org/W2559655401","https://openalex.org/W2737829489","https://openalex.org/W3109830187","https://openalex.org/W3153914979","https://openalex.org/W4200122078","https://openalex.org/W4205579775","https://openalex.org/W4212774754","https://openalex.org/W4225857316","https://openalex.org/W4280520105","https://openalex.org/W4283073566","https://openalex.org/W4283787395","https://openalex.org/W4296966920","https://openalex.org/W4312954585","https://openalex.org/W4323315945","https://openalex.org/W4386023365","https://openalex.org/W4388675089","https://openalex.org/W4401852897","https://openalex.org/W6679524480","https://openalex.org/W6733938641","https://openalex.org/W6802030287","https://openalex.org/W6850088184","https://openalex.org/W6856025954","https://openalex.org/W6856969770"],"related_works":["https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2101105382"],"abstract_inverted_index":{"Reactive":[0],"trajectory":[1,39,55,67,82,161],"optimization":[2,40,56,83,90,162],"for":[3,58,74,200],"robotics":[4],"presents":[5],"formidable":[6],"challenges,":[7],"demanding":[8],"the":[9,114,179,193,220],"rapid":[10],"generation":[11],"of":[12,72,108,117,124,139,146,178,222],"purposeful":[13],"robot":[14,59,190,230],"motion":[15,30,48],"in":[16,37,137,232],"complex":[17],"and":[18,46,69,96,198,228,238],"swiftly":[19],"changing":[20],"dynamic":[21],"environments.":[22],"While":[23],"much":[24],"existing":[25],"research":[26],"predominantly":[27],"addresses":[28],"robotic":[29,38],"planning":[31],"with":[32],"predefined":[33],"objectives,":[34],"emerging":[35],"problems":[36],"frequently":[41],"involve":[42],"dynamically":[43],"evolving":[44],"objectives":[45],"stochastic":[47],"dynamics.":[49],"However,":[50],"effectively":[51],"addressing":[52],"such":[53,209],"reactive":[54],"challenges":[57],"manipulators":[60],"proves":[61],"difficult":[62],"due":[63],"to":[64,121,152],"inefficient,":[65],"high-dimensional":[66],"representations":[68],"a":[70,80,100,104,110,122,143,176],"lack":[71],"consideration":[73],"time":[75,128,181],"optimization.In":[76],"response,":[77],"we":[78,141],"introduce":[79],"novel":[81],"framework":[84,224],"called":[85],"RETRO.":[86],"RETRO":[87],"employs":[88],"adaptive":[89],"techniques":[91],"that":[92,168],"span":[93],"both":[94],"spatial":[95],"temporal":[97],"dimensions.":[98],"As":[99],"result,":[101],"it":[102,151],"achieves":[103],"remarkable":[105],"computing":[106],"complexity":[107,123],"O(T2.4)+O(Tn2),":[109],"significant":[111],"improvement":[112],"over":[113],"traditional":[115],"application":[116],"DDP,":[118],"which":[119],"leads":[120],"O(n4)":[125],"when":[126],"reasonable":[127],"step":[129,182],"sizes":[130],"are":[131],"used.":[132],"To":[133],"evaluate":[134],"RETRO\u2019s":[135,169],"performance":[136],"terms":[138],"error,":[140],"conducted":[142],"comprehensive":[144],"analysis":[145],"its":[147],"regret":[148,171],"bounds,":[149],"comparing":[150],"an":[153,159],"Oracle":[154,160],"value":[155],"function":[156,177],"obtained":[157],"through":[158,225],"algorithm.":[163],"Our":[164],"analytical":[165],"findings":[166],"demonstrate":[167],"total":[170],"can":[172,204],"be":[173],"upper-bounded":[174],"by":[175],"chosen":[180],"size.":[183],"Moreover,":[184],"our":[185,223],"approach":[186],"delivers":[187],"smoothly":[188],"optimized":[189],"trajectories":[191],"within":[192],"joint":[194],"space,":[195],"offering":[196],"flexibility":[197],"adaptability":[199],"various":[201],"tasks.":[202],"It":[203],"seamlessly":[205],"integrate":[206],"task-specific":[207],"requirements":[208],"as":[210],"collision":[211],"avoidance":[212],"while":[213],"maintaining":[214],"real-time":[215],"control":[216],"rates.":[217],"We":[218],"validate":[219],"effectiveness":[221],"extensive":[226],"simulations":[227],"real-world":[229],"experiments":[231],"closed-loop":[233],"manipulation":[234],"scenarios.For":[235],"further":[236],"details":[237],"supplementary":[239],"materials,":[240],"please":[241],"visit:":[242],"https://sites.google.com/view/retro-optimal-control/home":[243]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
