{"id":"https://openalex.org/W3004399823","doi":"https://doi.org/10.1109/iros40897.2019.8968575","title":"optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories","display_name":"optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3004399823","doi":"https://doi.org/10.1109/iros40897.2019.8968575","mag":"3004399823","pmid":"https://pubmed.ncbi.nlm.nih.gov/32318314"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968575","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968575","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7172036","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030822612","display_name":"Sherdil Niyaz","orcid":"https://orcid.org/0000-0002-9624-9825"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sherdil Niyaz","raw_affiliation_strings":["University of Washington,School of Computer Science and Engineering","School of Computer Science and Engineering, University of Washington"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,School of Computer Science and Engineering","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"School of Computer Science and Engineering, University of Washington","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068912132","display_name":"Alan Kuntz","orcid":"https://orcid.org/0000-0003-0017-3932"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alan Kuntz","raw_affiliation_strings":["University of North Carolina,Department of Computer Science,Chapel Hill","Department of Computer Science, University of North Carolina, Chapel Hill"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of North Carolina,Department of Computer Science,Chapel Hill","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Department of Computer Science, University of North Carolina, Chapel Hill","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078885681","display_name":"Oren Salzman","orcid":"https://orcid.org/0000-0003-4541-8219"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oren Salzman","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University School of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University School of Computer Science","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054402635","display_name":"Ron Alterovitz","orcid":"https://orcid.org/0000-0002-4492-1384"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ron Alterovitz","raw_affiliation_strings":["University of North Carolina,Department of Computer Science,Chapel Hill","Department of Computer Science, University of North Carolina, Chapel Hill"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of North Carolina,Department of Computer Science,Chapel Hill","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Department of Computer Science, University of North Carolina, Chapel Hill","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddhartha S. Srinivasa","raw_affiliation_strings":["University of Washington,School of Computer Science and Engineering","School of Computer Science and Engineering, University of Washington"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,School of Computer Science and Engineering","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"School of Computer Science and Engineering, University of Washington","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2019","issue":null,"first_page":"1355","last_page":"1362"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9969000220298767,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9969000220298767,"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/planner","display_name":"Planner","score":0.7784496545791626},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7437894344329834},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6972388029098511},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6847978234291077},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6344367265701294},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6267385482788086},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6188832521438599},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6147520542144775},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6057689785957336},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4982624053955078},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4805624783039093},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.46262311935424805},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.349639892578125},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2355530560016632},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15067315101623535},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09667038917541504}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7784496545791626},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7437894344329834},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6972388029098511},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6847978234291077},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6344367265701294},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6267385482788086},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6188832521438599},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6147520542144775},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6057689785957336},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4982624053955078},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4805624783039093},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.46262311935424805},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.349639892578125},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2355530560016632},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15067315101623535},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09667038917541504},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros40897.2019.8968575","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968575","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmid:32318314","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32318314","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:7172036","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7172036","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rep U S","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:7172036","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7172036","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rep U S","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7200000286102295,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G3708874961","display_name":null,"funder_award_id":"R01 EB019335","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"},{"id":"https://openalex.org/G5947857836","display_name":null,"funder_award_id":"R01 EB024864","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"}],"funders":[{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W148948641","https://openalex.org/W1495615928","https://openalex.org/W1533424938","https://openalex.org/W1982809790","https://openalex.org/W2004139909","https://openalex.org/W2014100751","https://openalex.org/W2030929340","https://openalex.org/W2063706473","https://openalex.org/W2101817128","https://openalex.org/W2144925301","https://openalex.org/W2144931885","https://openalex.org/W2154598371","https://openalex.org/W2169528473","https://openalex.org/W2293499200","https://openalex.org/W2462654948","https://openalex.org/W2525425589","https://openalex.org/W2559613836","https://openalex.org/W2591616037","https://openalex.org/W2592309289","https://openalex.org/W2735953291","https://openalex.org/W2762648996","https://openalex.org/W2764278393","https://openalex.org/W2765226061","https://openalex.org/W2811294511","https://openalex.org/W2892027551","https://openalex.org/W2962740025","https://openalex.org/W2963128534","https://openalex.org/W2963130659","https://openalex.org/W2963481133","https://openalex.org/W2963659407","https://openalex.org/W2964065782","https://openalex.org/W3004399823","https://openalex.org/W3102509322","https://openalex.org/W6719065306","https://openalex.org/W6744811712"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W2002361198","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2482749251"],"abstract_inverted_index":{"A":[0],"motion-planning":[1,102],"problem's":[2],"setup":[3],"can":[4],"drastically":[5],"affect":[6],"the":[7,13,45,50,57,85,89,113],"quality":[8],"of":[9,49,117],"solutions":[10],"returned":[11],"by":[12,80,88,110],"planner.":[14],"In":[15],"this":[16,69],"work":[17,54,86],"we":[18,95],"consider":[19,44],"optimizing":[20,112],"these":[21],"setups,":[22],"with":[23,37],"a":[24,30,60,72,76,100,118],"focus":[25],"on":[26],"doing":[27],"so":[28],"in":[29,71],"computationally-efficient":[31],"fashion.":[32],"Our":[33],"approach":[34,98,109],"interleaves":[35],"optimization":[36],"motion":[38],"planning,":[39],"which":[40],"allows":[41],"us":[42,82],"to":[43,83,91,99],"actual":[46],"motions":[47],"required":[48],"robot.":[51,120],"Similar":[52],"prior":[53],"has":[55],"treated":[56],"planner":[58,90],"as":[59],"black":[61],"box:":[62],"our":[63,97,105,108],"key":[64],"insight":[65],"is":[66],"that":[67],"opening":[68],"box":[70],"simple-yet-effective":[73],"manner":[74],"enables":[75],"more":[77],"efficient":[78],"approach,":[79],"allowing":[81],"bound":[84],"done":[87],"optimizer-relevant":[92],"computations.":[93],"Finally,":[94],"apply":[96],"surgically-relevant":[101],"task,":[103],"where":[104],"experiments":[106],"validate":[107],"more-efficiently":[111],"fixed":[114],"insertion":[115],"pose":[116],"surgical":[119]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
