{"id":"https://openalex.org/W2963786075","doi":"https://doi.org/10.1109/iros.2017.8206019","title":"Efficient sampling-based bottleneck pathfinding over cost maps","display_name":"Efficient sampling-based bottleneck pathfinding over cost maps","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2963786075","doi":"https://doi.org/10.1109/iros.2017.8206019","mag":"2963786075"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206019","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5000480439","display_name":"Kiril Solovey","orcid":"https://orcid.org/0000-0003-0254-0572"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Kiril Solovey","raw_affiliation_strings":["Blavatnik School of Computer Science, Tel Aviv University, Israel"],"affiliations":[{"raw_affiliation_string":"Blavatnik School of Computer Science, Tel Aviv University, Israel","institution_ids":["https://openalex.org/I16391192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038503253","display_name":"Dan Halperin","orcid":"https://orcid.org/0000-0002-3345-3765"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Dan Halperin","raw_affiliation_strings":["Blavatnik School of Computer Science, Tel Aviv University, Israel"],"affiliations":[{"raw_affiliation_string":"Blavatnik School of Computer Science, Tel Aviv University, Israel","institution_ids":["https://openalex.org/I16391192"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5000480439"],"corresponding_institution_ids":["https://openalex.org/I16391192"],"apc_list":null,"apc_paid":null,"fwci":0.2731,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.66691178,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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":0.987500011920929,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.8035614490509033},{"id":"https://openalex.org/keywords/pathfinding","display_name":"Pathfinding","score":0.6838140487670898},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5811742544174194},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5024018287658691},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.49892163276672363},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4576604962348938},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4543116092681885},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4283349812030792},{"id":"https://openalex.org/keywords/monotone-polygon","display_name":"Monotone polygon","score":0.41998058557510376},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4166765809059143},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.410754919052124},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.40042832493782043},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.32868659496307373},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3152647614479065},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.23148322105407715},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2228989601135254},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.1774706244468689},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.13207709789276123},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13151800632476807}],"concepts":[{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.8035614490509033},{"id":"https://openalex.org/C25321074","wikidata":"https://www.wikidata.org/wiki/Q1969601","display_name":"Pathfinding","level":4,"score":0.6838140487670898},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5811742544174194},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5024018287658691},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.49892163276672363},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4576604962348938},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4543116092681885},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4283349812030792},{"id":"https://openalex.org/C2834757","wikidata":"https://www.wikidata.org/wiki/Q4925424","display_name":"Monotone polygon","level":2,"score":0.41998058557510376},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4166765809059143},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.410754919052124},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.40042832493782043},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.32868659496307373},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3152647614479065},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.23148322105407715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2228989601135254},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.1774706244468689},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.13207709789276123},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13151800632476807},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206019","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W157296195","https://openalex.org/W1509388613","https://openalex.org/W1509634142","https://openalex.org/W1517319335","https://openalex.org/W1557739567","https://openalex.org/W1591987192","https://openalex.org/W1627400044","https://openalex.org/W1843966007","https://openalex.org/W1844162177","https://openalex.org/W1864112212","https://openalex.org/W1963969090","https://openalex.org/W1965440866","https://openalex.org/W1971086298","https://openalex.org/W1983164251","https://openalex.org/W2007193228","https://openalex.org/W2010536454","https://openalex.org/W2034801091","https://openalex.org/W2063738946","https://openalex.org/W2072839015","https://openalex.org/W2084501107","https://openalex.org/W2085512211","https://openalex.org/W2096158814","https://openalex.org/W2101600490","https://openalex.org/W2110762409","https://openalex.org/W2113946784","https://openalex.org/W2122005371","https://openalex.org/W2124299914","https://openalex.org/W2128990851","https://openalex.org/W2134112278","https://openalex.org/W2135531396","https://openalex.org/W2141664020","https://openalex.org/W2155236684","https://openalex.org/W2167348159","https://openalex.org/W2218021848","https://openalex.org/W2248868695","https://openalex.org/W2256429252","https://openalex.org/W2301019454","https://openalex.org/W2414919613","https://openalex.org/W2562184125","https://openalex.org/W2900376083","https://openalex.org/W2952237967","https://openalex.org/W2952476488","https://openalex.org/W2963095472","https://openalex.org/W2963358853","https://openalex.org/W2963659407","https://openalex.org/W2963786075","https://openalex.org/W3100603226","https://openalex.org/W3145128584","https://openalex.org/W4229668751","https://openalex.org/W4246219036","https://openalex.org/W6636759986","https://openalex.org/W6675282069"],"related_works":["https://openalex.org/W1603231086","https://openalex.org/W2020412470","https://openalex.org/W2046076203","https://openalex.org/W2591763881","https://openalex.org/W3088847347","https://openalex.org/W4233661500","https://openalex.org/W2041895526","https://openalex.org/W2369723851","https://openalex.org/W3089836232","https://openalex.org/W2380376766"],"abstract_inverted_index":{"We":[0,56],"introduce":[1],"a":[2,34,41,99],"simple":[3],"yet":[4],"effective":[5],"sampling-based":[6],"planner":[7],"that":[8,147],"is":[9],"tailored":[10],"for":[11],"bottleneck":[12,66],"pathfinding:":[13],"Given":[14],"an":[15],"implicitly-defined":[16],"cost":[17],"map":[18],"M":[19],":":[20],"R":[21],"<sup":[22],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[23],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">d</sup>":[24],"\u00c5":[25],"R,":[26],"which":[27,47,63],"assigns":[28],"to":[29,39,54,90,150],"every":[30],"point":[31],"in":[32,130,136],"space":[33],"real":[35],"value,":[36],"we":[37,64,110],"wish":[38],"find":[40],"path":[42],"connecting":[43],"two":[44],"given":[45],"points,":[46],"minimizes":[48],"the":[49,58,74,82,95,102,107,112,120,124,139,142],"maximal":[50],"value":[51],"with":[52],"respect":[53],"M.":[55],"demonstrate":[57],"capabilities":[59],"of":[60,73,97,104,115,144],"our":[61,116],"algorithm,":[62],"call":[65],"tree":[67],"(BTT),":[68],"on":[69],"several":[70],"challenging":[71],"instances":[72],"problem":[75,140],"involving":[76],"multiple":[77,145],"agents,":[78],"where":[79,123,138],"it":[80],"outperforms":[81],"state-of-the-art":[83],"cost-map":[84],"planning":[85],"technique":[86],"T-RRT.":[87],"In":[88],"addition":[89],"its":[91],"efficiency,":[92],"BTT":[93],"requires":[94],"tuning":[96],"only":[98],"single":[100],"parameter:":[101],"number":[103],"samples.":[105],"On":[106],"theoretical":[108],"side,":[109],"study":[111],"asymptotic":[113],"properties":[114],"method":[117],"and":[118],"consider":[119],"special":[121],"setting":[122],"computed":[125],"trajectories":[126],"must":[127],"be":[128],"monotone":[129],"all":[131],"coordinates.":[132],"This":[133],"constraint":[134],"arises":[135],"cases":[137],"involves":[141],"coordination":[143],"agents":[146],"are":[148],"restricted":[149],"forward":[151],"motions":[152],"along":[153],"predefined":[154],"paths.":[155]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
