{"id":"https://openalex.org/W4401415533","doi":"https://doi.org/10.1109/icra57147.2024.10610790","title":"Motion Memory: Leveraging Past Experiences to Accelerate Future Motion Planning","display_name":"Motion Memory: Leveraging Past Experiences to Accelerate Future Motion Planning","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415533","doi":"https://doi.org/10.1109/icra57147.2024.10610790"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610790","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610790","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":"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/A5058076388","display_name":"Dibyendu Das","orcid":"https://orcid.org/0000-0002-3328-7883"},"institutions":[{"id":"https://openalex.org/I1311060795","display_name":"U.S. National Science Foundation","ror":"https://ror.org/021nxhr62","country_code":"US","type":"funder","lineage":["https://openalex.org/I1311060795"]},{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dibyendu Das","raw_affiliation_strings":["George Mason University,Department of Computer Science,VA,22030","National Science Foundation, Alexandria, VA, 22314, USA,","Department of Computer Science, George Mason University, VA 22030,"],"affiliations":[{"raw_affiliation_string":"George Mason University,Department of Computer Science,VA,22030","institution_ids":["https://openalex.org/I162714631"]},{"raw_affiliation_string":"National Science Foundation, Alexandria, VA, 22314, USA,","institution_ids":["https://openalex.org/I1311060795"]},{"raw_affiliation_string":"Department of Computer Science, George Mason University, VA 22030,","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057817693","display_name":"Yuanjie Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I1311060795","display_name":"U.S. National Science Foundation","ror":"https://ror.org/021nxhr62","country_code":"US","type":"funder","lineage":["https://openalex.org/I1311060795"]},{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuanjie Lu","raw_affiliation_strings":["George Mason University,Department of Computer Science,VA,22030","National Science Foundation, Alexandria, VA, 22314, USA,","Department of Computer Science, George Mason University, VA 22030,"],"affiliations":[{"raw_affiliation_string":"George Mason University,Department of Computer Science,VA,22030","institution_ids":["https://openalex.org/I162714631"]},{"raw_affiliation_string":"National Science Foundation, Alexandria, VA, 22314, USA,","institution_ids":["https://openalex.org/I1311060795"]},{"raw_affiliation_string":"Department of Computer Science, George Mason University, VA 22030,","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017823298","display_name":"Erion Plaku","orcid":"https://orcid.org/0000-0002-6622-386X"},"institutions":[{"id":"https://openalex.org/I1311060795","display_name":"U.S. National Science Foundation","ror":"https://ror.org/021nxhr62","country_code":"US","type":"funder","lineage":["https://openalex.org/I1311060795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erion Plaku","raw_affiliation_strings":["National Science Foundation,Alexandria,VA,USA,22314"],"affiliations":[{"raw_affiliation_string":"National Science Foundation,Alexandria,VA,USA,22314","institution_ids":["https://openalex.org/I1311060795"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017662025","display_name":"Xuesu Xiao","orcid":"https://orcid.org/0000-0001-5151-2186"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]},{"id":"https://openalex.org/I1311060795","display_name":"U.S. National Science Foundation","ror":"https://ror.org/021nxhr62","country_code":"US","type":"funder","lineage":["https://openalex.org/I1311060795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuesu Xiao","raw_affiliation_strings":["George Mason University,Department of Computer Science,VA,22030","National Science Foundation, Alexandria, VA, 22314, USA,","Department of Computer Science, George Mason University, VA 22030,"],"affiliations":[{"raw_affiliation_string":"George Mason University,Department of Computer Science,VA,22030","institution_ids":["https://openalex.org/I162714631"]},{"raw_affiliation_string":"National Science Foundation, Alexandria, VA, 22314, USA,","institution_ids":["https://openalex.org/I1311060795"]},{"raw_affiliation_string":"Department of Computer Science, George Mason University, VA 22030,","institution_ids":["https://openalex.org/I162714631"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5058076388"],"corresponding_institution_ids":["https://openalex.org/I1311060795","https://openalex.org/I162714631"],"apc_list":null,"apc_paid":null,"fwci":2.2507,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.89271604,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"16467","last_page":"16474"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.989300012588501,"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":0.7103927135467529},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5957353115081787},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.517644464969635},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24891036748886108},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12105640769004822}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7103927135467529},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5957353115081787},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.517644464969635},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24891036748886108},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12105640769004822}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610790","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610790","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":[{"display_name":"Climate action","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W178999881","https://openalex.org/W1424654272","https://openalex.org/W1485487406","https://openalex.org/W1485661534","https://openalex.org/W1516027685","https://openalex.org/W1521785144","https://openalex.org/W1649062001","https://openalex.org/W1777480005","https://openalex.org/W1933985328","https://openalex.org/W1971086298","https://openalex.org/W1971458750","https://openalex.org/W2000359213","https://openalex.org/W2002548850","https://openalex.org/W2038131922","https://openalex.org/W2042613867","https://openalex.org/W2055473513","https://openalex.org/W2072195747","https://openalex.org/W2114628632","https://openalex.org/W2117211893","https://openalex.org/W2128990851","https://openalex.org/W2147497140","https://openalex.org/W2165216595","https://openalex.org/W2171266831","https://openalex.org/W2189076595","https://openalex.org/W2294594531","https://openalex.org/W2338687951","https://openalex.org/W2409044193","https://openalex.org/W2472568752","https://openalex.org/W2793436161","https://openalex.org/W2922572893","https://openalex.org/W2956013478","https://openalex.org/W2957707960","https://openalex.org/W2963439114","https://openalex.org/W2966003930","https://openalex.org/W2966173166","https://openalex.org/W2967969632","https://openalex.org/W2971244547","https://openalex.org/W3009220630","https://openalex.org/W3043649182","https://openalex.org/W3089464149","https://openalex.org/W3100868156","https://openalex.org/W3103497574","https://openalex.org/W3105267091","https://openalex.org/W3129762237","https://openalex.org/W3131579243","https://openalex.org/W3133653368","https://openalex.org/W3134179334","https://openalex.org/W3181484951","https://openalex.org/W3193317239","https://openalex.org/W3202846827","https://openalex.org/W3206800343","https://openalex.org/W3211789630","https://openalex.org/W4220840735","https://openalex.org/W4242811155","https://openalex.org/W4285102333","https://openalex.org/W4309217139","https://openalex.org/W4312994513","https://openalex.org/W4313146937","https://openalex.org/W4381586681","https://openalex.org/W6605295560","https://openalex.org/W6782312600","https://openalex.org/W6783879329","https://openalex.org/W6803204836","https://openalex.org/W6853572690"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"When":[0],"facing":[1,102],"a":[2,22,32,54,80,87,103],"new":[3,104],"motion-planning":[4],"problem,":[5],"most":[6,26],"motion":[7,27,65,76,115],"planners":[8,28,66,77,116],"solve":[9],"it":[10],"from":[11,21],"scratch,":[12],"e.g.,":[13],"via":[14],"sampling":[15],"and":[16,128,147],"exploration":[17],"or":[18,82],"starting":[19],"optimization":[20],"straight-line":[23],"path.":[24],"However,":[25],"have":[29],"to":[30,43,67,96,139],"experience":[31],"variety":[33,88],"of":[34,89,120],"planning":[35,70,99,105,121,131,151],"problems":[36,122],"throughout":[37],"their":[38],"lifetimes,":[39],"which":[40,62],"are":[41],"yet":[42],"be":[44,134],"leveraged":[45],"for":[46],"future":[47,69],"planning.":[48],"In":[49],"this":[50],"paper,":[51],"we":[52,85],"present":[53,86],"simple":[55],"but":[56],"efficient":[57],"method":[58],"called":[59],"Motion":[60,92,144],"Memory,":[61],"allows":[63],"different":[64,114],"accelerate":[68],"using":[71],"past":[72,150],"experiences.":[73,152],"Treating":[74],"existing":[75],"as":[78],"either":[79],"closed":[81],"open":[83],"box,":[84],"ways":[90],"that":[91,130],"Memory":[93,145],"can":[94,133],"contribute":[95],"reduce":[97],"the":[98,142],"time":[100],"when":[101],"problem.":[106],"We":[107],"provide":[108],"extensive":[109],"experiment":[110],"results":[111],"with":[112,123,141,148],"three":[113,118],"on":[117],"classes":[119],"over":[124],"30,000":[125],"problem":[126],"instances":[127],"show":[129],"speed":[132],"significantly":[135],"reduced":[136],"by":[137],"up":[138],"89%":[140],"proposed":[143],"technique":[146],"increasing":[149]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2024-08-09T00:00:00"}