{"id":"https://openalex.org/W2909396665","doi":"https://doi.org/10.1109/iros.2018.8594183","title":"Automatic Parameter Tuning of Motion Planning Algorithms","display_name":"Automatic Parameter Tuning of Motion Planning Algorithms","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909396665","doi":"https://doi.org/10.1109/iros.2018.8594183","mag":"2909396665"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594183","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594183","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":"http://eprints.gla.ac.uk/view/author/48307.html>","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008501980","display_name":"Jos\u00e9 Cano","orcid":"https://orcid.org/0000-0002-2243-389X"},"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":"Jose Cano","raw_affiliation_strings":["School of Informatics, University of Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101421479","display_name":"Yiming Yang","orcid":"https://orcid.org/0000-0002-9755-2711"},"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":"Yiming Yang","raw_affiliation_strings":["School of Informatics, University of Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012848825","display_name":"Bruno Bodin","orcid":"https://orcid.org/0000-0002-8762-7513"},"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":"Bruno Bodin","raw_affiliation_strings":["School of Informatics, University of Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056071760","display_name":"Vijay Nagarajan","orcid":"https://orcid.org/0009-0000-5045-4754"},"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":"Vijay Nagarajan","raw_affiliation_strings":["School of Informatics, University of Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108135714","display_name":"Michael O\u2019Boyle","orcid":null},"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":"Michael O'Boyle","raw_affiliation_strings":["School of Informatics, University of Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5008501980"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":0.8357,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.79572269,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"8103","last_page":"8109"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9970999956130981,"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"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9955000281333923,"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/motion-planning","display_name":"Motion planning","score":0.7230713367462158},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6690061092376709},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6639302968978882},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6454924941062927},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.5601497292518616},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5392732620239258},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5302388668060303},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5240378975868225},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.46460574865341187},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.45570996403694153},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4191027283668518},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4182977080345154},{"id":"https://openalex.org/keywords/bayesian-optimization","display_name":"Bayesian optimization","score":0.41739997267723083},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33931970596313477},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2666330337524414},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23234400153160095},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13106012344360352},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.12498146295547485}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7230713367462158},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6690061092376709},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6639302968978882},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6454924941062927},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.5601497292518616},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5392732620239258},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5302388668060303},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5240378975868225},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.46460574865341187},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.45570996403694153},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4191027283668518},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4182977080345154},{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.41739997267723083},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33931970596313477},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2666330337524414},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23234400153160095},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13106012344360352},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.12498146295547485},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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":4,"locations":[{"id":"doi:10.1109/iros.2018.8594183","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594183","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:eprints.gla.ac.uk:177441","is_oa":true,"landing_page_url":"http://eprints.gla.ac.uk/view/author/48307.html>","pdf_url":null,"source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/74bead4a-08a4-4092-badd-08fd77d86b32","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/74bead4a-08a4-4092-badd-08fd77d86b32","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":"Cano Reyes, J, Yang, Y, Bodin, B, Nagarajan, V & O'Boyle, M 2019, Automatic Parameter Tuning of Motion Planning Algorithms. in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. Institute of Electrical and Electronics Engineers, Madrid, Spain, pp. 8103-8109, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 1/10/18. https://doi.org/10.1109/IROS.2018.8594183","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/74bead4a-08a4-4092-badd-08fd77d86b32","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/8594183","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:eprints.gla.ac.uk:177441","is_oa":true,"landing_page_url":"http://eprints.gla.ac.uk/view/author/48307.html>","pdf_url":null,"source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},"sustainable_development_goals":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G3739566937","display_name":null,"funder_award_id":"EP/R016690/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4917891107","display_name":null,"funder_award_id":"EP/L000725/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6368762450","display_name":null,"funder_award_id":"EP/K008730/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W60686164","https://openalex.org/W131069610","https://openalex.org/W1424654272","https://openalex.org/W1502517891","https://openalex.org/W1549905066","https://openalex.org/W2012233224","https://openalex.org/W2055201760","https://openalex.org/W2100218206","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2192203593","https://openalex.org/W2411689113","https://openalex.org/W2511419816","https://openalex.org/W2527407729","https://openalex.org/W2611243847","https://openalex.org/W2738901560","https://openalex.org/W2801987886","https://openalex.org/W2849931839","https://openalex.org/W3098336417","https://openalex.org/W6605295560","https://openalex.org/W6630113953"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W2797949337","https://openalex.org/W3158818664","https://openalex.org/W4388720133","https://openalex.org/W2372633663","https://openalex.org/W2863424594","https://openalex.org/W2564325388","https://openalex.org/W2108906364","https://openalex.org/W2371294653","https://openalex.org/W1660309994"],"abstract_inverted_index":{"Motion":[0],"planning":[1,10,94,212],"algorithms":[2],"attempt":[3],"to":[4,17,51,87,113,118,188,217],"find":[5,183,218],"a":[6,101,119,157,208],"good":[7],"compromise":[8],"between":[9],"time":[11,186],"and":[12,70,84,97,140,149,165],"quality":[13],"of":[14,61,74,91,125,159,162,210],"solution.":[15],"Due":[16],"their":[18],"heuristic":[19],"nature,":[20],"they":[21],"are":[22,43],"typically":[23],"configured":[24],"with":[25,199],"several":[26,126],"parameters.":[27],"In":[28],"this":[29],"paper":[30],"we":[31,155,166,182],"demonstrate":[32,205],"that,":[33],"in":[34,122,128,172,177],"many":[35],"scenarios,":[36],"the":[37,48,59,62,72,89,105,123,129,134,145,185,223],"widely":[38],"used":[39],"default":[40,226],"parameter":[41,63,190],"values":[42],"not":[44,56],"ideal.":[45],"However,":[46],"finding":[47],"best":[49,135],"parameters":[50,90,170],"optimise":[52],"some":[53],"metric(s)":[54],"is":[55,215],"trivial":[57],"because":[58],"size":[60],"space":[64],"can":[65,192],"be":[66,193],"large.":[67],"We":[68,99,131],"evaluate":[69,189],"compare":[71],"efficiency":[73],"four":[75],"different":[76],"methods":[77,136],"(i.e.":[78],"random":[79,82,160],"sampling,":[80],"AUC-Bandit,":[81],"forest,":[83],"bayesian":[85],"optimisation)":[86],"tune":[88],"two":[92],"motion":[93,211],"algorithms,":[95],"BKPIECE":[96,138],"RRT-connect.":[98],"present":[100],"table-top-reaching":[102],"scenario":[103],"where":[104],"seven":[106],"degrees-of-freedom":[107],"KUKA":[108],"LWR":[109],"robotic":[110],"arm":[111],"has":[112],"move":[114],"from":[115],"an":[116],"initial":[117],"goal":[120],"pose":[121],"presence":[124],"objects":[127],"environment.":[130],"show":[132],"that":[133,168,184,206,220],"for":[137,207],"(AUC-Bandit)":[139],"RRT-Connect":[141],"(random":[142],"forest)":[143],"improve":[144,222],"performance":[146,224],"by":[147,195],"4.5x":[148],"1.26x":[150],"on":[151],"average":[152],"respectively.":[153],"Then,":[154],"generate":[156],"set":[158],"scenarios":[161],"increasing":[163],"complexity,":[164],"observe":[167],"optimal":[169],"found":[171],"simple":[173],"environments":[174],"perform":[175],"well":[176],"more":[178,196],"complex":[179],"scenarios.":[180],"Finally,":[181],"required":[187],"configurations":[191,227],"reduced":[194],"than":[197],"2/3":[198],"low":[200],"error.":[201],"Overall,":[202],"our":[203],"results":[204],"variety":[209],"problems":[213],"it":[214],"possible":[216],"solutions":[219],"significantly":[221],"over":[225],"while":[228],"requiring":[229],"very":[230],"reasonable":[231],"computation":[232],"times.":[233]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
