{"id":"https://openalex.org/W2909501798","doi":"https://doi.org/10.1109/iros.2018.8593977","title":"Leveraging Precomputation with Problem Encoding for Warm-Starting Trajectory Optimization in Complex Environments","display_name":"Leveraging Precomputation with Problem Encoding for Warm-Starting Trajectory Optimization in Complex Environments","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909501798","doi":"https://doi.org/10.1109/iros.2018.8593977","mag":"2909501798"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593977","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/en/publications/86efd345-bec9-44ba-9279-ba2c7aa63398","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036958906","display_name":"Wolfgang Merkt","orcid":"https://orcid.org/0000-0003-3235-4906"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Wolfgang Merkt","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, The University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, The University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049922263","display_name":"Vladimir Ivan","orcid":"https://orcid.org/0000-0002-6610-385X"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Vladimir Ivan","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, The University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, The University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, The University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, The University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5036958906"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":1.7018,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.88977421,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5877","last_page":"5884"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9977999925613403,"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/T12158","display_name":"Guidance and Control Systems","score":0.9897000193595886,"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/initialization","display_name":"Initialization","score":0.7453230619430542},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7360299825668335},{"id":"https://openalex.org/keywords/precomputation","display_name":"Precomputation","score":0.6381977796554565},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.620891273021698},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.6083990931510925},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5716925859451294},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.5515201687812805},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.5174973011016846},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.46949318051338196},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.41091257333755493},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35873645544052124},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3453240990638733},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.23681893944740295},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.20849177241325378},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17533016204833984},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.1119355857372284}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7453230619430542},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7360299825668335},{"id":"https://openalex.org/C159379195","wikidata":"https://www.wikidata.org/wiki/Q7239568","display_name":"Precomputation","level":3,"score":0.6381977796554565},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.620891273021698},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.6083990931510925},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5716925859451294},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.5515201687812805},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.5174973011016846},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.46949318051338196},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.41091257333755493},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35873645544052124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3453240990638733},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.23681893944740295},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.20849177241325378},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17533016204833984},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.1119355857372284},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2018.8593977","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593977","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/86efd345-bec9-44ba-9279-ba2c7aa63398","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/86efd345-bec9-44ba-9279-ba2c7aa63398","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Merkt, W, Ivan, V & Vijayakumar, S 2019, Leveraging Precomputation with Problem Encoding for Warm-Starting Trajectory Optimization in Complex Environments. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers, Madrid, Spain, pp. 5877-5884, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 1/10/18. https://doi.org/10.1109/IROS.2018.8593977","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/86efd345-bec9-44ba-9279-ba2c7aa63398","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/8593977","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/86efd345-bec9-44ba-9279-ba2c7aa63398","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/86efd345-bec9-44ba-9279-ba2c7aa63398","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Merkt, W, Ivan, V & Vijayakumar, S 2019, Leveraging Precomputation with Problem Encoding for Warm-Starting Trajectory Optimization in Complex Environments. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers, Madrid, Spain, pp. 5877-5884, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 1/10/18. https://doi.org/10.1109/IROS.2018.8593977","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W61873113","https://openalex.org/W1536308292","https://openalex.org/W1560788109","https://openalex.org/W1603365166","https://openalex.org/W1722931978","https://openalex.org/W1925816294","https://openalex.org/W1970101292","https://openalex.org/W1997196401","https://openalex.org/W2019965290","https://openalex.org/W2039391127","https://openalex.org/W2055201760","https://openalex.org/W2068764432","https://openalex.org/W2079148749","https://openalex.org/W2099893201","https://openalex.org/W2107464055","https://openalex.org/W2128259081","https://openalex.org/W2138839127","https://openalex.org/W2141664020","https://openalex.org/W2162427161","https://openalex.org/W2293883387","https://openalex.org/W2296360731","https://openalex.org/W2401467858","https://openalex.org/W2412669390","https://openalex.org/W2548899160","https://openalex.org/W2610753682","https://openalex.org/W2770550065","https://openalex.org/W2774194701","https://openalex.org/W2849931839","https://openalex.org/W2962817082","https://openalex.org/W2963930094","https://openalex.org/W3005581722","https://openalex.org/W4294408240","https://openalex.org/W4300309110","https://openalex.org/W6637398835","https://openalex.org/W6640290305","https://openalex.org/W6660243372","https://openalex.org/W6680594301","https://openalex.org/W6684011737","https://openalex.org/W6726908717"],"related_works":["https://openalex.org/W126258643","https://openalex.org/W2157769033","https://openalex.org/W2096978683","https://openalex.org/W414359703","https://openalex.org/W2687399516","https://openalex.org/W2170398238","https://openalex.org/W2543067032","https://openalex.org/W3029113864","https://openalex.org/W2020308516","https://openalex.org/W4242327143"],"abstract_inverted_index":{"Motion":[0],"planning":[1,146],"through":[2],"optimization":[3],"is":[4,19,151],"largely":[5],"based":[6,61],"on":[7,30,62,135],"locally":[8],"improving":[9],"the":[10,22,31,34,39,70,79,94,122,136,154,164],"cost":[11,40],"of":[12,33,93,99,127,156],"a":[13,27,97,106],"trajectory":[14,24],"until":[15],"an":[16,56],"optimal":[17,145],"solution":[18],"found.":[20],"Choosing":[21],"initial":[23,100],"has":[25],"therefore":[26],"significant":[28],"effect":[29],"performance":[32],"motion":[35],"planner,":[36],"especially":[37],"when":[38],"landscape":[41],"contains":[42],"local":[43],"minima.":[44],"While":[45],"multiple":[46],"heuristics":[47],"and":[48,104,125,129,144,159],"approximations":[49],"may":[50],"be":[51],"used":[52],"to":[53,87,109],"efficiently":[54],"compute":[55],"initialization":[57,119],"online,":[58],"they":[59],"are":[60,84],"generic":[63],"assumptions":[64],"that":[65,81,142],"do":[66],"not":[67],"always":[68],"match":[69],"task":[71],"at":[72],"hand.":[73],"In":[74],"this":[75],"paper,":[76],"we":[77],"exploit":[78],"fact":[80],"repeated":[82],"tasks":[83],"similar":[85],"according":[86],"some":[88],"metric.":[89],"We":[90,115],"store":[91],"solutions":[92],"problem":[95,107],"as":[96,163],"library":[98],"seed":[101],"trajectories":[102],"offline":[103],"employ":[105],"encoding":[108],"retrieve":[110],"near-optimal":[111],"warm-start":[112],"initializations":[113],"on-the-fly.":[114],"compare":[116],"how":[117],"different":[118],"strategies":[120],"affect":[121],"global":[123],"convergence":[124],"runtime":[126],"quasi-Newton":[128],"probabilistic":[130],"inference":[131],"solvers.":[132],"Our":[133],"analysis":[134],"38-DoF":[137],"NASA":[138],"Valkyrie":[139],"robot":[140],"shows":[141],"efficient":[143],"in":[147],"high-dimensional":[148],"state":[149],"spaces":[150],"possible":[152],"despite":[153],"presence":[155],"globally":[157],"non-smooth":[158],"discontinuous":[160],"constraints,":[161],"such":[162],"ones":[165],"imposed":[166],"by":[167],"collisions.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":2}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}
