{"id":"https://openalex.org/W3003664035","doi":"https://doi.org/10.1109/iros40897.2019.8968578","title":"Sampling-based motion planning of 3D solid objects guided by multiple approximate solutions","display_name":"Sampling-based motion planning of 3D solid objects guided by multiple approximate solutions","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003664035","doi":"https://doi.org/10.1109/iros40897.2019.8968578","mag":"3003664035"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968578","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968578","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":"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/A5083101752","display_name":"Vojt\u011bch Von\u00e1sek","orcid":"https://orcid.org/0000-0001-9224-2151"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Vojt\u011bch Von\u00e1sek","raw_affiliation_strings":["Czech Technical University in Prague,Faculty of Electrical Engineering,Technická 2, 166 27 Prague,Czech Republic","Faculty of Electrical Engineering, Czech Technical University in Prague, Technick\u00e1 2, 166 27 Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague,Faculty of Electrical Engineering,Technická 2, 166 27 Prague,Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University in Prague, Technick\u00e1 2, 166 27 Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045281591","display_name":"Robert P\u011bni\u010dka","orcid":"https://orcid.org/0000-0001-8549-4932"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Robert P\u011bnika","raw_affiliation_strings":["Czech Technical University in Prague,Faculty of Electrical Engineering,Technická 2, 166 27 Prague,Czech Republic","Faculty of Electrical Engineering, Czech Technical University in Prague, Technick\u00e1 2, 166 27 Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague,Faculty of Electrical Engineering,Technická 2, 166 27 Prague,Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University in Prague, Technick\u00e1 2, 166 27 Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5083101752"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":0.2044,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.56881372,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1480","last_page":"1487"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987000226974487,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9958999752998352,"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/configuration-space","display_name":"Configuration space","score":0.7463477849960327},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7081670165061951},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6992478370666504},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6977834701538086},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.6580905318260193},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5690665245056152},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5665244460105896},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5530409216880798},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5060345530509949},{"id":"https://openalex.org/keywords/cover","display_name":"Cover (algebra)","score":0.4569171071052551},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.4521605372428894},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.43607622385025024},{"id":"https://openalex.org/keywords/volume","display_name":"Volume (thermodynamics)","score":0.4220614433288574},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4102541208267212},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3893519937992096},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3693504333496094},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.323175847530365},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2978561520576477},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17965564131736755},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1279815435409546},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.11566120386123657},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09215733408927917}],"concepts":[{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.7463477849960327},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7081670165061951},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6992478370666504},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6977834701538086},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.6580905318260193},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5690665245056152},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5665244460105896},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5530409216880798},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5060345530509949},{"id":"https://openalex.org/C2780428219","wikidata":"https://www.wikidata.org/wiki/Q16952335","display_name":"Cover (algebra)","level":2,"score":0.4569171071052551},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.4521605372428894},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.43607622385025024},{"id":"https://openalex.org/C20556612","wikidata":"https://www.wikidata.org/wiki/Q4469374","display_name":"Volume (thermodynamics)","level":2,"score":0.4220614433288574},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4102541208267212},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3893519937992096},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3693504333496094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.323175847530365},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2978561520576477},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17965564131736755},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1279815435409546},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.11566120386123657},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09215733408927917},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968578","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968578","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6800000071525574,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W177468924","https://openalex.org/W181534116","https://openalex.org/W1424654272","https://openalex.org/W1495392417","https://openalex.org/W1531225991","https://openalex.org/W1937587174","https://openalex.org/W1971355878","https://openalex.org/W1980064148","https://openalex.org/W1991290239","https://openalex.org/W1991478428","https://openalex.org/W1999250663","https://openalex.org/W2001008407","https://openalex.org/W2016828152","https://openalex.org/W2018740177","https://openalex.org/W2026941035","https://openalex.org/W2027693953","https://openalex.org/W2042106485","https://openalex.org/W2051757997","https://openalex.org/W2055201760","https://openalex.org/W2077956684","https://openalex.org/W2095757353","https://openalex.org/W2097737334","https://openalex.org/W2101207292","https://openalex.org/W2106473816","https://openalex.org/W2107535513","https://openalex.org/W2108643443","https://openalex.org/W2109212155","https://openalex.org/W2109991971","https://openalex.org/W2113296585","https://openalex.org/W2118356379","https://openalex.org/W2122724557","https://openalex.org/W2125035363","https://openalex.org/W2128990851","https://openalex.org/W2151184669","https://openalex.org/W2152128591","https://openalex.org/W2156459680","https://openalex.org/W2157543942","https://openalex.org/W2168430074","https://openalex.org/W2171266831","https://openalex.org/W2401275229","https://openalex.org/W2414947275","https://openalex.org/W2611243847","https://openalex.org/W2737826019","https://openalex.org/W2899147850","https://openalex.org/W3022776424","https://openalex.org/W3115270213","https://openalex.org/W6629573421","https://openalex.org/W6648231039","https://openalex.org/W6676022314","https://openalex.org/W6682124187","https://openalex.org/W6776755868","https://openalex.org/W7019850852"],"related_works":["https://openalex.org/W2005695917","https://openalex.org/W2333571655","https://openalex.org/W3004930912","https://openalex.org/W2104320275","https://openalex.org/W2111158727","https://openalex.org/W1510039162","https://openalex.org/W2112736381","https://openalex.org/W2106317420","https://openalex.org/W2120794627","https://openalex.org/W2067790096"],"abstract_inverted_index":{"Sampling-based":[0],"motion":[1,8],"planners":[2,19,34],"are":[3,42,141,191,203],"often":[4],"used":[5],"to":[6,53,57,101,113,157,175],"solve":[7,218],"planning":[9,219],"problems":[10,220],"for":[11,117,179],"robots":[12],"with":[13,221,224],"many":[14],"degrees":[15],"of":[16,31,65,77,89,136,166,173,187],"freedom.":[17],"These":[18],"explore":[20],"the":[21,32,36,47,60,66,75,78,87,91,95,115,137,167,177,185,194,197,210],"related":[22],"configuration":[23,48,138,168],"space":[24,49,139,211],"by":[25,59,73,81,146],"random":[26,61,92],"sampling.":[27],"The":[28,63,200,214],"well-known":[29],"issue":[30],"sampling-based":[33],"is":[35],"narrow":[37,67,96,222],"passage":[38],"problem.":[39],"Narrow":[40],"passages":[41,68,223],"small":[43],"collision-free":[44],"regions":[45,189,202],"in":[46,209],"that":[50,140,190],"are,":[51],"due":[52],"their":[54],"volume,":[55],"difficult":[56],"cover":[58],"samples.":[62],"volume":[64],"can":[69,217],"be":[70],"artificially":[71],"increased":[72],"reducing":[74],"size":[76],"robot,":[79],"e.g.,":[80],"scaling-down":[82],"its":[83],"geometry,":[84],"which":[85],"increases":[86],"probability":[88],"placing":[90],"samples":[93],"into":[94],"passages.":[97],"This":[98],"allows":[99],"us":[100],"find":[102,114],"an":[103,123],"approximate":[104,124,160],"solution":[105,116,125,131],"(trajectory)":[106],"and":[107,170],"use":[108,171],"it":[109],"as":[110],"a":[111,118,147,180],"guide":[112,176],"larger":[119,148,181],"robot.":[120,149,182],"Guiding":[121],"along":[122],"may,":[126],"however,":[127],"fail":[128],"if":[129],"this":[130,152],"leads":[132],"through":[133,163],"such":[134],"parts":[135,165],"not":[142],"reachable":[143],"or":[144],"traversable":[145],"To":[150],"improve":[151],"guiding":[153],"process,":[154],"we":[155],"propose":[156],"compute":[158],"several":[159],"solutions":[161],"leading":[162],"different":[164],"space,":[169],"all":[172],"them":[174],"search":[178],"We":[183],"introduce":[184],"concept":[186],"disabled":[188,201],"prohibited":[192],"from":[193],"exploration":[195],"using":[196,205],"sampling":[198],"process.":[199],"defined":[204],"trajectories":[206],"already":[207],"found":[208],"being":[212],"searched.":[213],"proposed":[215],"method":[216],"higher":[225],"success":[226],"rate":[227],"than":[228],"other":[229],"state-of-the-art":[230],"planners.":[231]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}