{"id":"https://openalex.org/W4405786095","doi":"https://doi.org/10.1109/iros58592.2024.10802528","title":"Probabilistic Homotopy Optimization for Dynamic Motion Planning","display_name":"Probabilistic Homotopy Optimization for Dynamic Motion Planning","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786095","doi":"https://doi.org/10.1109/iros58592.2024.10802528"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5115575736","display_name":"Shayan Pardis","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shayan Pardis","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Electrical Engineering and Computer Science,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Electrical Engineering and Computer Science,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035509343","display_name":"Matthew Chignoli","orcid":"https://orcid.org/0000-0003-3066-7001"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Chignoli","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Mechanical Engineering,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Mechanical Engineering,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Mechanical Engineering,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Mechanical Engineering,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"12856","last_page":"12863"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9897000193595886,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9897000193595886,"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/probabilistic-logic","display_name":"Probabilistic logic","score":0.660227358341217},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6276164650917053},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5990197658538818},{"id":"https://openalex.org/keywords/homotopy","display_name":"Homotopy","score":0.516247034072876},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.45483702421188354},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.45121055841445923},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3101077079772949},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2536601722240448},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21714487671852112}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.660227358341217},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6276164650917053},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5990197658538818},{"id":"https://openalex.org/C5961521","wikidata":"https://www.wikidata.org/wiki/Q746083","display_name":"Homotopy","level":2,"score":0.516247034072876},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.45483702421188354},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.45121055841445923},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3101077079772949},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2536601722240448},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21714487671852112},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320329803","display_name":"LG Electronics","ror":"https://ror.org/03ddh2c27"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W180478659","https://openalex.org/W2004891368","https://openalex.org/W2046449549","https://openalex.org/W2107535513","https://openalex.org/W2112271657","https://openalex.org/W2113820768","https://openalex.org/W2123871098","https://openalex.org/W2139169966","https://openalex.org/W2158370675","https://openalex.org/W2502655619","https://openalex.org/W2920808675","https://openalex.org/W3030835366","https://openalex.org/W3090207068","https://openalex.org/W3104753760","https://openalex.org/W3206363598","https://openalex.org/W3209332701","https://openalex.org/W4283734789","https://openalex.org/W4293775970","https://openalex.org/W4312723716","https://openalex.org/W4378696928","https://openalex.org/W4388692454","https://openalex.org/W4389665580","https://openalex.org/W4390938336","https://openalex.org/W4403035129","https://openalex.org/W6859129508"],"related_works":["https://openalex.org/W2943623134","https://openalex.org/W2494523064","https://openalex.org/W2215759665","https://openalex.org/W2030292806","https://openalex.org/W2960358116","https://openalex.org/W2938171715","https://openalex.org/W4287727129","https://openalex.org/W3041172967","https://openalex.org/W2749065928","https://openalex.org/W2147155098"],"abstract_inverted_index":{"We":[0,94],"present":[1],"a":[2,27,35,59,63,126],"homotopic":[3],"approach":[4,13],"to":[5,84,90,106],"solving":[6,23],"challenging,":[7],"optimization-based":[8],"motion":[9,132],"planning":[10,133],"problems.":[11,93,134],"The":[12,42],"uses":[14],"Homotopy":[15,73],"Optimization,":[16],"which,":[17],"unlike":[18],"standard":[19],"continuation":[20],"methods":[21],"for":[22],"homotopy":[24,65,107,117],"problems,":[25],"solves":[26],"sequence":[28,36,54],"of":[29,37,40,52,55,103,115],"constrained":[30],"optimization":[31,56],"problems":[32,57,86],"rather":[33],"than":[34],"nonlinear":[38],"systems":[39],"equations.":[41],"insight":[43],"behind":[44],"our":[45,97],"proposed":[46,69],"algorithm":[47,98],"is":[48],"formulating":[49],"the":[50,71,101,116,135,138],"discovery":[51],"this":[53],"as":[58,87,110],"search":[60],"problem":[61],"in":[62,100],"multidimensional":[64],"parameter":[66],"space.":[67],"Our":[68],"algorithm,":[70,75],"Probabilistic":[72],"Optimization":[74],"switches":[76],"between":[77],"solve":[78],"and":[79,113,137],"sample":[80],"phases,":[81],"using":[82],"solutions":[83],"easy":[85],"initial":[88],"guesses":[89],"more":[91],"challenging":[92],"analyze":[95],"how":[96],"performs":[99],"presence":[102],"common":[104],"challenges":[105],"methods,":[108],"such":[109],"bifurcation,":[111],"folding,":[112],"disconnectedness":[114],"solution":[118],"manifold.":[119],"Finally,":[120],"we":[121],"demonstrate":[122],"its":[123],"utility":[124],"via":[125],"case":[127],"study":[128],"on":[129],"two":[130],"dynamic":[131],"cart-pole":[136],"MIT":[139],"Humanoid.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
