{"id":"https://openalex.org/W4401414113","doi":"https://doi.org/10.1109/icra57147.2024.10610936","title":"Leveraging Opportunism in Sample-Based Motion Planning","display_name":"Leveraging Opportunism in Sample-Based Motion Planning","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414113","doi":"https://doi.org/10.1109/icra57147.2024.10610936"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610936","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610936","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/A5071127469","display_name":"Michael W. Lanighan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210150603","display_name":"Traclabs (United States)","ror":"https://ror.org/03sf2jx83","country_code":"US","type":"company","lineage":["https://openalex.org/I4210150603"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael W. Lanighan","raw_affiliation_strings":["TRACLabs Inc.,Houston,TX,77058"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TRACLabs Inc.,Houston,TX,77058","institution_ids":["https://openalex.org/I4210150603"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075286655","display_name":"Oscar Youngquist","orcid":null},"institutions":[{"id":"https://openalex.org/I4210150603","display_name":"Traclabs (United States)","ror":"https://ror.org/03sf2jx83","country_code":"US","type":"company","lineage":["https://openalex.org/I4210150603"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oscar Youngquist","raw_affiliation_strings":["TRACLabs Inc.,Houston,TX,77058"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TRACLabs Inc.,Houston,TX,77058","institution_ids":["https://openalex.org/I4210150603"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210150603"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11004394,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"19","issue":null,"first_page":"12137","last_page":"12143"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9986000061035156,"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":0.9976000189781189,"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/opportunism","display_name":"Opportunism","score":0.9364899396896362},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.6945279240608215},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5843478441238403},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4707126021385193},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.426453173160553},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29001519083976746},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.13540774583816528},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1101980209350586}],"concepts":[{"id":"https://openalex.org/C129631789","wikidata":"https://www.wikidata.org/wiki/Q334173","display_name":"Opportunism","level":2,"score":0.9364899396896362},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.6945279240608215},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5843478441238403},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4707126021385193},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.426453173160553},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29001519083976746},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.13540774583816528},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1101980209350586},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610936","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610936","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1485487406","https://openalex.org/W1963969090","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W2003835006","https://openalex.org/W2112271657","https://openalex.org/W2141664020","https://openalex.org/W2166077797","https://openalex.org/W2288650507","https://openalex.org/W2324370234","https://openalex.org/W2564325388","https://openalex.org/W2752924159","https://openalex.org/W2891969900","https://openalex.org/W2963130659","https://openalex.org/W2964057747","https://openalex.org/W3001195886","https://openalex.org/W3006249771","https://openalex.org/W3013946224","https://openalex.org/W3089868768","https://openalex.org/W3102121895","https://openalex.org/W3102509322","https://openalex.org/W3199732739","https://openalex.org/W3216674436","https://openalex.org/W4382468060","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2050308155","https://openalex.org/W2724229960","https://openalex.org/W2932319714","https://openalex.org/W2010920191","https://openalex.org/W4280570406","https://openalex.org/W4248207452","https://openalex.org/W2486858298","https://openalex.org/W2057306453"],"abstract_inverted_index":{"Sample-based":[0],"motion":[1],"planning":[2],"approaches,":[3],"such":[4,125],"as":[5],"RRT*,":[6],"have":[7],"been":[8],"widely":[9],"adopted":[10],"in":[11,100],"robotics":[12],"due":[13],"to":[14,37,58],"their":[15],"support":[16],"for":[17,88],"high-dimensional":[18],"state":[19],"spaces":[20],"and":[21,25,46,105,131],"guarantees":[22],"of":[23,54,62,92,103,113],"completeness":[24],"optimality.":[26],"This":[27],"paper":[28],"introduces":[29],"an":[30,126],"RRT*":[31,119],"approach":[32,56,99,116,127],"(ORRT*)":[33],"that":[34,124],"leverages":[35],"opportunism":[36],"(1)":[38],"find":[39],"solutions":[40],"quickly,":[41],"(2)":[42],"reduce":[43],"wasted":[44],"compute,":[45],"(3)":[47],"improve":[48],"data":[49],"efficiency.":[50],"The":[51],"key":[52],"insight":[53],"the":[55,60,66,71,83,93,97,111,114],"is":[57],"make":[59],"most":[61],"compute":[63],"when":[64,76],"expanding":[65],"search":[67],"tree":[68],"by":[69],"adding":[70],"last":[72],"viable":[73],"configurations":[74],"found":[75],"connecting":[77],"new":[78],"nodes":[79,85],"rather":[80],"than":[81],"rejecting":[82],"sampled":[84],"outright,":[86],"allowing":[87],"more":[89],"productive":[90],"exploration":[91],"space.":[94],"We":[95],"evaluate":[96],"proposed":[98],"a":[101],"set":[102],"mobility":[104],"manipulator":[106],"postural":[107],"control":[108],"domains,":[109],"contrasting":[110],"performance":[112],"opportunistic":[115],"with":[117],"state-of-the-art":[118],"variants.":[120],"Our":[121],"analysis":[122],"shows":[123],"has":[128],"desirable":[129],"characteristics":[130],"warrants":[132],"further":[133],"exploration.":[134]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
