{"id":"https://openalex.org/W3130935530","doi":"https://doi.org/10.1109/iros45743.2020.9341055","title":"Learning to Use Adaptive Motion Primitives in Search-Based Planning for Navigation","display_name":"Learning to Use Adaptive Motion Primitives in Search-Based Planning for Navigation","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130935530","doi":"https://doi.org/10.1109/iros45743.2020.9341055","mag":"3130935530"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341055","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/A5016726774","display_name":"Raghav Sood","orcid":null},"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":"Raghav Sood","raw_affiliation_strings":["Carnegie Mellon University,School of Computer Science,Robotics Institute,Pittsburgh,Pennsylvania,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,School of Computer Science,Robotics Institute,Pittsburgh,Pennsylvania,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072029596","display_name":"Shivam Vats","orcid":null},"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":"Shivam Vats","raw_affiliation_strings":["Carnegie Mellon University,School of Computer Science,Robotics Institute,Pittsburgh,Pennsylvania,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,School of Computer Science,Robotics Institute,Pittsburgh,Pennsylvania,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103257510","display_name":"Maxim Likhachev","orcid":"https://orcid.org/0000-0002-9539-2398"},"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":"Maxim Likhachev","raw_affiliation_strings":["Carnegie Mellon University,School of Computer Science,Robotics Institute,Pittsburgh,Pennsylvania,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,School of Computer Science,Robotics Institute,Pittsburgh,Pennsylvania,USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.2937,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.59302345,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"6923","last_page":"6929"},"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/T11574","display_name":"Artificial Intelligence in Games","score":0.9836000204086304,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9660000205039978,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7676434516906738},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.753633975982666},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5542348623275757},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5535189509391785},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4816373884677887},{"id":"https://openalex.org/keywords/search-algorithm","display_name":"Search algorithm","score":0.47439268231391907},{"id":"https://openalex.org/keywords/bidirectional-search","display_name":"Bidirectional search","score":0.4649772644042969},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.45771872997283936},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44011133909225464},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.428596556186676},{"id":"https://openalex.org/keywords/incremental-heuristic-search","display_name":"Incremental heuristic search","score":0.4256581664085388},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.4063072204589844},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3729478120803833},{"id":"https://openalex.org/keywords/beam-search","display_name":"Beam search","score":0.22424453496932983},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12426203489303589}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7676434516906738},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.753633975982666},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5542348623275757},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5535189509391785},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4816373884677887},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.47439268231391907},{"id":"https://openalex.org/C831591","wikidata":"https://www.wikidata.org/wiki/Q59750","display_name":"Bidirectional search","level":5,"score":0.4649772644042969},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.45771872997283936},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44011133909225464},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.428596556186676},{"id":"https://openalex.org/C139979381","wikidata":"https://www.wikidata.org/wiki/Q17056021","display_name":"Incremental heuristic search","level":4,"score":0.4256581664085388},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.4063072204589844},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3729478120803833},{"id":"https://openalex.org/C19889080","wikidata":"https://www.wikidata.org/wiki/Q2835852","display_name":"Beam search","level":3,"score":0.22424453496932983},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12426203489303589},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341055","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":0.6700000166893005,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1971998222","https://openalex.org/W2035601288","https://openalex.org/W2128990851","https://openalex.org/W2137983211","https://openalex.org/W2161076907","https://openalex.org/W2164276476","https://openalex.org/W2293499200","https://openalex.org/W2313274380","https://openalex.org/W2409044193","https://openalex.org/W2587537338","https://openalex.org/W2899771611","https://openalex.org/W2917360832","https://openalex.org/W2979471191","https://openalex.org/W3009220630","https://openalex.org/W3021132920","https://openalex.org/W3146803896","https://openalex.org/W6605295560","https://openalex.org/W6683620479","https://openalex.org/W6714639566","https://openalex.org/W6756040250","https://openalex.org/W6760069399","https://openalex.org/W6769154122"],"related_works":["https://openalex.org/W2402589461","https://openalex.org/W2747118187","https://openalex.org/W2885402535","https://openalex.org/W2081821176","https://openalex.org/W2358427436","https://openalex.org/W1622225657","https://openalex.org/W3192236608","https://openalex.org/W2397806795","https://openalex.org/W2064794194","https://openalex.org/W4200104947"],"abstract_inverted_index":{"Heuristic-based":[0],"graph":[1,29,40],"search":[2,33,114,193],"algorithms":[3,37,194],"like":[4,124],"A*":[5],"are":[6,79],"frequently":[7],"used":[8,116,129],"to":[9,26,53,63,71,101,110,130,145,152,196],"solve":[10],"motion":[11,51,76,94,103,169,181],"planning":[12,170,201],"problems":[13],"in":[14,190,200],"many":[15,66],"domains.":[16],"For":[17],"most":[18],"practical":[19],"applications,":[20],"it":[21,68],"is":[22,69,96],"infeasible":[23],"and":[24,89],"unnecessary":[25],"pre-compute":[27],"the":[28,31,39,55,85,175],"representing":[30],"whole":[32],"space.":[34],"Instead,":[35],"these":[36,92,135],"generate":[38],"incrementally":[41],"by":[42],"applying":[43],"a":[44,142,157,165],"fixed":[45,125],"set":[46],"of":[47,57,91,134,161],"actions":[48,73],"(frequently":[49],"called":[50],"primitives)":[52,77],"find":[54],"successors":[56],"every":[58],"node":[59],"that":[60,78,186],"they":[61,106],"need":[62],"evaluate.":[64],"In":[65,118,137],"domains,":[67],"possible":[70],"define":[72],"(called":[74],"adaptive":[75,93,180],"not":[80],"pre-computed":[81,102],"but":[82],"generated":[83],"on":[84,164],"fly.":[86],"The":[87],"generation":[88],"validation":[90],"primitives":[95],"usually":[97],"quite":[98],"expensive":[99],"compared":[100],"primitives.":[104],"However,":[105],"have":[107,127],"been":[108,128],"shown":[109],"drastically":[111],"speed":[112],"up":[113],"if":[115],"judiciously.":[117],"prior":[119],"work,":[120],"ad":[121],"hoc":[122],"techniques":[123],"thresholds":[126],"limit":[131],"unsuccessful":[132],"evaluations":[133],"actions.":[136],"this":[138],"paper,":[139],"we":[140],"propose":[141],"learning-based":[143],"approach":[144,189],"make":[146],"more":[147],"intelligent":[148],"decisions":[149],"about":[150],"when":[151],"evaluate":[153],"them.":[154],"We":[155],"do":[156],"thorough":[158],"empirical":[159],"evaluation":[160],"our":[162,188],"model":[163],"3":[166],"degree-of-freedom":[167],"(dof)":[168],"problem":[171],"for":[172],"navigation":[173],"using":[174,187],"Reeds-Shepp":[176],"path":[177],"as":[178],"an":[179],"primitive.":[182],"Our":[183],"experiments":[184],"show":[185],"conjunction":[191],"with":[192],"leads":[195],"over":[197],"2x":[198],"speedup":[199],"time.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}