{"id":"https://openalex.org/W2022854905","doi":"https://doi.org/10.1109/iros.2005.1545606","title":"Finding narrow passages with probabilistic roadmaps: the small step retraction method","display_name":"Finding narrow passages with probabilistic roadmaps: the small step retraction method","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2022854905","doi":"https://doi.org/10.1109/iros.2005.1545606","mag":"2022854905"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545606","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545606","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5071315518","display_name":"Mitul Saha","orcid":"https://orcid.org/0000-0002-6338-5070"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Saha","raw_affiliation_strings":["Artificial Intelligence Laboratory, University of Stanford, Stanford, CA, USA","Artificial Intelligence Lab., Stanford Univ., CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Laboratory, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Artificial Intelligence Lab., Stanford Univ., CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113658744","display_name":"J.-C. Latombe","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.-C. Latombe","raw_affiliation_strings":["Artificial Intelligence Laboratory, University of Stanford, Stanford, CA, USA","Artificial Intelligence Lab., Stanford Univ., CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Laboratory, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Artificial Intelligence Lab., Stanford Univ., CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"622","last_page":"627"},"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":0.9965999722480774,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9872999787330627,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.7358406186103821},{"id":"https://openalex.org/keywords/free-space","display_name":"Free space","score":0.6835634708404541},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6414117813110352},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6408628225326538},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6011822819709778},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.579482913017273},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5514696836471558},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5325918197631836},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.5154014825820923},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5051034092903137},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.441096693277359},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41037479043006897},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34085792303085327},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1651153564453125},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.07867234945297241},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.07574185729026794}],"concepts":[{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.7358406186103821},{"id":"https://openalex.org/C2988672794","wikidata":"https://www.wikidata.org/wiki/Q11475","display_name":"Free space","level":2,"score":0.6835634708404541},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6414117813110352},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6408628225326538},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6011822819709778},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.579482913017273},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5514696836471558},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5325918197631836},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.5154014825820923},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5051034092903137},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.441096693277359},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41037479043006897},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34085792303085327},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1651153564453125},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.07867234945297241},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.07574185729026794},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2005.1545606","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545606","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.115.4544","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.115.4544","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robotics.stanford.edu/~latombe/cs326/2007/class8/small-step.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.122.5389","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.122.5389","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ai.stanford.edu/~mitul/papers/SLC+ar06.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W2881148","https://openalex.org/W281357932","https://openalex.org/W1483753820","https://openalex.org/W1495392417","https://openalex.org/W1536373029","https://openalex.org/W1585638810","https://openalex.org/W1586146481","https://openalex.org/W1670942551","https://openalex.org/W1863997888","https://openalex.org/W1903715478","https://openalex.org/W1906034729","https://openalex.org/W1937587174","https://openalex.org/W1966159541","https://openalex.org/W1999250663","https://openalex.org/W2000359213","https://openalex.org/W2020065037","https://openalex.org/W2021118704","https://openalex.org/W2021927715","https://openalex.org/W2022854905","https://openalex.org/W2025998811","https://openalex.org/W2036016432","https://openalex.org/W2045851525","https://openalex.org/W2077976550","https://openalex.org/W2094539937","https://openalex.org/W2096636360","https://openalex.org/W2097075673","https://openalex.org/W2100656238","https://openalex.org/W2107535513","https://openalex.org/W2109212155","https://openalex.org/W2110320103","https://openalex.org/W2111994433","https://openalex.org/W2115257338","https://openalex.org/W2128990851","https://openalex.org/W2131011485","https://openalex.org/W2138800545","https://openalex.org/W2139062144","https://openalex.org/W2144067986","https://openalex.org/W2151402824","https://openalex.org/W2159722616","https://openalex.org/W2163670193","https://openalex.org/W2171266831","https://openalex.org/W2232710831","https://openalex.org/W2504499316","https://openalex.org/W3159914786","https://openalex.org/W4236470048","https://openalex.org/W4244930641","https://openalex.org/W6634836779","https://openalex.org/W6637067985","https://openalex.org/W6639854016","https://openalex.org/W6683784282"],"related_works":["https://openalex.org/W2060743914","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W2389713625","https://openalex.org/W2107702345","https://openalex.org/W2115192598","https://openalex.org/W4367628293","https://openalex.org/W2101993361","https://openalex.org/W1510039162"],"abstract_inverted_index":{"The":[0,33,64,107,125,136],"efficiency":[1],"of":[2,36,55,62],"probabilistic":[3],"roadmap":[4,45,57,130],"(PRM)":[5],"planners":[6,27],"drops":[7],"dramatically":[8],"in":[9,46,88,118],"spaces":[10],"with":[11],"narrow":[12],"passages.":[13,32],"This":[14],"paper":[15],"presents":[16],"a":[17,44,112],"new":[18],"method":[19,34],"-":[20,23],"small-step":[21],"retraction":[22],"that":[24,153],"helps":[25],"PRM":[26],"find":[28],"paths":[29],"through":[30],"such":[31],"consists":[35],"slightly":[37],"fattening":[38],"the":[39,47,73,93,129,141],"robot's":[40],"free":[41,49,66,90,120],"space,":[42,50],"constructing":[43],"fattened":[48,65,89,119],"and":[51,157],"repairing":[52,123],"colliding":[53],"portions":[54],"this":[56,100],"by":[58],"retracting":[59],"them":[60],"out":[61],"collision.":[63],"space":[67,91,121],"is":[68,133,138,143,154],"not":[69,97],"explicitly":[70],"computed.":[71],"Instead,":[72],"robot":[74,85],"links":[75],"and/or":[76],"obstacles":[77],"are":[78,105],"thinned":[79,94],"around":[80],"their":[81],"medial":[82],"axis.":[83],"A":[84,146],"configuration":[86],"lies":[87],"if":[92],"objects":[95],"do":[96],"collide":[98],"at":[99],"configuration.":[101],"Two":[102],"repair":[103],"strategies":[104],"used.":[106],"\"optimist\"":[108],"strategy":[109,127],"waits":[110],"until":[111],"complete":[113],"path":[114],"has":[115],"been":[116],"found":[117],"before":[122],"it.":[124],"\"pessimist\"":[126],"repairs":[128],"as":[131],"it":[132],"being":[134],"built.":[135],"former":[137],"faster,":[139],"but":[140],"latter":[142],"more":[144],"reliable.":[145,158],"simple":[147],"combination":[148],"yields":[149],"an":[150],"integrated":[151],"planner":[152],"both":[155],"fast":[156]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}