{"id":"https://openalex.org/W3132711197","doi":"https://doi.org/10.1109/iros45743.2020.9340804","title":"Towards General Infeasibility Proofs in Motion Planning","display_name":"Towards General Infeasibility Proofs in Motion Planning","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3132711197","doi":"https://doi.org/10.1109/iros45743.2020.9340804","mag":"3132711197"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340804","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340804","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5101678015","display_name":"Sihui Li","orcid":"https://orcid.org/0000-0003-1766-4316"},"institutions":[{"id":"https://openalex.org/I167576493","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53","country_code":"US","type":"education","lineage":["https://openalex.org/I167576493"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sihui Li","raw_affiliation_strings":["Colorado School of Mines, USA"],"affiliations":[{"raw_affiliation_string":"Colorado School of Mines, USA","institution_ids":["https://openalex.org/I167576493"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029447901","display_name":"Neil T. Dantam","orcid":"https://orcid.org/0000-0002-0907-2241"},"institutions":[{"id":"https://openalex.org/I167576493","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53","country_code":"US","type":"education","lineage":["https://openalex.org/I167576493"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Neil T. Dantam","raw_affiliation_strings":["Colorado School of Mines, USA"],"affiliations":[{"raw_affiliation_string":"Colorado School of Mines, USA","institution_ids":["https://openalex.org/I167576493"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101678015"],"corresponding_institution_ids":["https://openalex.org/I167576493"],"apc_list":null,"apc_paid":null,"fwci":0.3908,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.63636822,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"58260","issue":null,"first_page":"6704","last_page":"6710"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.995199978351593,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9932000041007996,"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/motion-planning","display_name":"Motion planning","score":0.7039045691490173},{"id":"https://openalex.org/keywords/mathematical-proof","display_name":"Mathematical proof","score":0.6917239427566528},{"id":"https://openalex.org/keywords/polytope","display_name":"Polytope","score":0.6777560710906982},{"id":"https://openalex.org/keywords/completeness","display_name":"Completeness (order theory)","score":0.6157081127166748},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.5657931566238403},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5620638132095337},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.5273854732513428},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.512631356716156},{"id":"https://openalex.org/keywords/polyhedron","display_name":"Polyhedron","score":0.5075291395187378},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4223541021347046},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3477053940296173},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2424502670764923},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.180374413728714},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.172885924577713},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.11106559634208679}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7039045691490173},{"id":"https://openalex.org/C108710211","wikidata":"https://www.wikidata.org/wiki/Q11538","display_name":"Mathematical proof","level":2,"score":0.6917239427566528},{"id":"https://openalex.org/C145691206","wikidata":"https://www.wikidata.org/wiki/Q747980","display_name":"Polytope","level":2,"score":0.6777560710906982},{"id":"https://openalex.org/C17231256","wikidata":"https://www.wikidata.org/wiki/Q5156540","display_name":"Completeness (order theory)","level":2,"score":0.6157081127166748},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.5657931566238403},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5620638132095337},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.5273854732513428},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.512631356716156},{"id":"https://openalex.org/C54829058","wikidata":"https://www.wikidata.org/wiki/Q172937","display_name":"Polyhedron","level":2,"score":0.5075291395187378},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4223541021347046},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3477053940296173},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2424502670764923},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.180374413728714},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.172885924577713},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.11106559634208679},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9340804","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340804","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W248545364","https://openalex.org/W1233247130","https://openalex.org/W1480909796","https://openalex.org/W1492287580","https://openalex.org/W1501654049","https://openalex.org/W1555515018","https://openalex.org/W1643513940","https://openalex.org/W1971086298","https://openalex.org/W1991651582","https://openalex.org/W2004139909","https://openalex.org/W2023862787","https://openalex.org/W2058246377","https://openalex.org/W2075577325","https://openalex.org/W2101993361","https://openalex.org/W2110762409","https://openalex.org/W2114306020","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2142224528","https://openalex.org/W2151607042","https://openalex.org/W2160419405","https://openalex.org/W2296559082","https://openalex.org/W2383103400","https://openalex.org/W2540258482","https://openalex.org/W2569270512","https://openalex.org/W2778784171","https://openalex.org/W2794922736","https://openalex.org/W2891037229","https://openalex.org/W2914044489","https://openalex.org/W2973711994","https://openalex.org/W3022540335","https://openalex.org/W4240202985","https://openalex.org/W6633272500","https://openalex.org/W6636841669","https://openalex.org/W6683775771","https://openalex.org/W6697270097","https://openalex.org/W6776708470","https://openalex.org/W7005955626"],"related_works":["https://openalex.org/W1483720348","https://openalex.org/W2013638832","https://openalex.org/W2124945447","https://openalex.org/W2392506312","https://openalex.org/W2122724557","https://openalex.org/W2107702345","https://openalex.org/W2109932020","https://openalex.org/W2048305907","https://openalex.org/W2131429071","https://openalex.org/W2156459680"],"abstract_inverted_index":{"We":[0,43,89,109,136],"present":[1],"a":[2,41,50,54,72,97,120],"general":[3,131],"approach":[4,139],"for":[5,130],"constructing":[6],"proofs":[7],"of":[8,84,93,113],"motion":[9,14],"planning":[10],"infeasibility.":[11],"Effective":[12],"high-dimensional":[13],"planners,":[15],"such":[16],"as":[17],"sampling-based":[18,51],"methods,":[19],"are":[20],"limited":[21],"to":[22,56,149,151],"probabilistic":[23],"completeness,":[24],"so":[25],"when":[26],"no":[27],"plan":[28],"exists,":[29],"these":[30],"planners":[31],"either":[32],"do":[33],"not":[34],"terminate":[35],"or":[36],"can":[37],"only":[38],"run":[39],"until":[40],"timeout.":[42],"address":[44],"this":[45,138],"completeness":[46],"challenge":[47],"by":[48],"augmenting":[49],"planner":[52],"with":[53,63],"method":[55],"create":[57],"an":[58],"infeasibility":[59,69],"proof":[60,70,126],"in":[61,104],"conjunction":[62],"building":[64],"the":[65,77,85,94,105,111,116,141],"search":[66],"tree.":[67],"An":[68],"is":[71,128],"closed":[73],"polytope":[74,95,118],"that":[75],"separates":[76],"start":[78],"and":[79,145],"goal":[80],"into":[81],"disconnected":[82],"components":[83],"free":[86],"configuration":[87,107,134],"space.":[88,108],"identify":[90,110],"possible":[91],"facets":[92,114],"via":[96,119],"nonlinear":[98],"optimization":[99],"procedure":[100],"using":[101],"sampled":[102],"points":[103],"non-free":[106],"set":[112],"forming":[115],"separating":[117],"linear":[121],"constraint":[122],"satisfaction":[123],"problem.":[124],"This":[125],"construction":[127],"valid":[129],"(i.e.,":[132],"non-Cartesian)":[133],"spaces.":[135,154],"demonstrate":[137],"on":[140],"low-dimensional":[142],"Jaco":[143],"manipulator":[144],"discuss":[146],"engineering":[147],"approaches":[148],"scale":[150],"higher":[152],"dimensional":[153]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
