{"id":"https://openalex.org/W2566555774","doi":"https://doi.org/10.1109/iros.2016.7759546","title":"Navigation Among Movable Obstacles with learned dynamic constraints","display_name":"Navigation Among Movable Obstacles with learned dynamic constraints","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2566555774","doi":"https://doi.org/10.1109/iros.2016.7759546","mag":"2566555774"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5077984643","display_name":"Jonathan Scholz","orcid":null},"institutions":[{"id":"https://openalex.org/I4210113297","display_name":"Google (United Kingdom)","ror":"https://ror.org/024bc3e07","country_code":"GB","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210113297","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I4210090411","display_name":"DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Jonathan Scholz","raw_affiliation_strings":["Google DeepMind, London, UK"],"affiliations":[{"raw_affiliation_string":"Google DeepMind, London, UK","institution_ids":["https://openalex.org/I4210113297","https://openalex.org/I4210090411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005706490","display_name":"Nehchal Jindal","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nehchal Jindal","raw_affiliation_strings":["Robotics and Intelligent Machines at the Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Intelligent Machines at the Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073679739","display_name":"Martin Levihn","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Martin Levihn","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, US"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, US","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091212723","display_name":"Charles L. Isbell","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Charles L. Isbell","raw_affiliation_strings":["Robotics and Intelligent Machines at the Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Intelligent Machines at the Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066237365","display_name":"Henrik I. Christensen","orcid":"https://orcid.org/0000-0002-7465-7502"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Henrik I. Christensen","raw_affiliation_strings":["Robotics and Intelligent Machines at the Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Intelligent Machines at the Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5077984643"],"corresponding_institution_ids":["https://openalex.org/I4210090411","https://openalex.org/I4210113297"],"apc_list":null,"apc_paid":null,"fwci":2.5709,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.92170664,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3706","last_page":"3713"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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/T12288","display_name":"Optimization and Search Problems","score":0.9922999739646912,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8022520542144775},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.7170238494873047},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7048452496528625},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6982293725013733},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5984774231910706},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5894034504890442},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5425330996513367},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5422403216362},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.49467965960502625},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4604507088661194},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43423542380332947},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3350391089916229},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08441731333732605}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8022520542144775},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.7170238494873047},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7048452496528625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6982293725013733},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5984774231910706},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5894034504890442},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5425330996513367},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5422403216362},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.49467965960502625},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4604507088661194},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43423542380332947},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3350391089916229},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08441731333732605},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W834081922","https://openalex.org/W1008966784","https://openalex.org/W1543060329","https://openalex.org/W1969348425","https://openalex.org/W1992338761","https://openalex.org/W2000359213","https://openalex.org/W2005126631","https://openalex.org/W2010209632","https://openalex.org/W2044725657","https://openalex.org/W2058030217","https://openalex.org/W2097861969","https://openalex.org/W2105518550","https://openalex.org/W2118688707","https://openalex.org/W2122458975","https://openalex.org/W2130212796","https://openalex.org/W2140135625","https://openalex.org/W2164139712","https://openalex.org/W2181623680","https://openalex.org/W2478027467","https://openalex.org/W2569188995","https://openalex.org/W2954040150","https://openalex.org/W2962841471","https://openalex.org/W2963430173","https://openalex.org/W3023151133","https://openalex.org/W6623316541","https://openalex.org/W6626294000","https://openalex.org/W6680657880","https://openalex.org/W6777156051"],"related_works":["https://openalex.org/W4400868993","https://openalex.org/W3096874164","https://openalex.org/W1985560493","https://openalex.org/W2386410636","https://openalex.org/W2357975469","https://openalex.org/W2145363145","https://openalex.org/W1626977535","https://openalex.org/W2341346307","https://openalex.org/W3168977894","https://openalex.org/W2315999538"],"abstract_inverted_index":{"In":[0],"this":[1,75],"paper":[2],"we":[3],"present":[4],"the":[5,9,40,53,91,97],"first":[6,45],"planner":[7],"for":[8],"problem":[10,55],"of":[11,33,39,52,99],"Navigation":[12],"Among":[13],"Movable":[14],"Obstacles":[15],"(NAMO)":[16],"on":[17],"a":[18,47,64,71,78,100,109],"real":[19,110],"robot":[20,92,101],"that":[21,82],"can":[22,83],"handle":[23,58],"environments":[24],"with":[25],"under-specified":[26],"object":[27,106],"dynamics.":[28],"This":[29],"result":[30],"makes":[31],"use":[32],"recent":[34],"progress":[35],"from":[36,87],"two":[37],"threads":[38],"Reinforcement":[41,66],"Learning":[42,67],"literature.":[43],"The":[44,61],"is":[46,63],"hierarchical":[48],"Markov-Decision":[49],"Process":[50],"formulation":[51],"NAMO":[54],"designed":[56],"to":[57,73,102,104],"dynamics":[59],"uncertainty.":[60],"second":[62],"physics-based":[65],"framework":[68],"which":[69],"offers":[70],"way":[72],"ground":[74],"uncertainty":[76],"in":[77,108],"compact":[79],"model":[80],"space":[81],"be":[84],"efficiently":[85],"updated":[86],"data":[88],"received":[89],"by":[90],"online.":[93],"Our":[94],"results":[95],"demonstrate":[96],"ability":[98],"adapt":[103],"unexpected":[105],"behavior":[107],"office":[111],"scenario.":[112]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}