{"id":"https://openalex.org/W4389331816","doi":"https://doi.org/10.1109/lcsys.2023.3339443","title":"An Efficient Semi-Real-Time Algorithm for Path Planning in the Hamilton\u2013Jacobi Formulation","display_name":"An Efficient Semi-Real-Time Algorithm for Path Planning in the Hamilton\u2013Jacobi Formulation","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4389331816","doi":"https://doi.org/10.1109/lcsys.2023.3339443"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2023.3339443","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lcsys.2023.3339443","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repository.arizona.edu/bitstream/10150/671092/1/main_FINAL_VERSION.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064882746","display_name":"Christian Parkinson","orcid":"https://orcid.org/0000-0003-1532-5409"},"institutions":[{"id":"https://openalex.org/I138006243","display_name":"University of Arizona","ror":"https://ror.org/03m2x1q45","country_code":"US","type":"education","lineage":["https://openalex.org/I138006243"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Christian Parkinson","raw_affiliation_strings":["Department of Mathematics, University of Arizona, Tucson, AZ, USA","postdoctoral associate, Department of Mathematics, University of Arizona, Tucson, AZ, USA"],"raw_orcid":"https://orcid.org/0000-0003-1532-5409","affiliations":[{"raw_affiliation_string":"Department of Mathematics, University of Arizona, Tucson, AZ, USA","institution_ids":["https://openalex.org/I138006243"]},{"raw_affiliation_string":"postdoctoral associate, Department of Mathematics, University of Arizona, Tucson, AZ, USA","institution_ids":["https://openalex.org/I138006243"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5092829421","display_name":"Kyle Polage","orcid":null},"institutions":[{"id":"https://openalex.org/I72951846","display_name":"Washington State University","ror":"https://ror.org/05dk0ce17","country_code":"US","type":"education","lineage":["https://openalex.org/I72951846"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyle Polage","raw_affiliation_strings":["Department of Mathematics, Washington State University, Pullman, WA, USA","student in the Department of Mathematics, Washington State University, Pullman, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics, Washington State University, Pullman, WA, USA","institution_ids":["https://openalex.org/I72951846"]},{"raw_affiliation_string":"student in the Department of Mathematics, Washington State University, Pullman, WA, USA","institution_ids":["https://openalex.org/I72951846"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5064882746"],"corresponding_institution_ids":["https://openalex.org/I138006243"],"apc_list":null,"apc_paid":null,"fwci":0.1177,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.43980841,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"7","issue":null,"first_page":"3621","last_page":"3626"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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":0.9983999729156494,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9853000044822693,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9850000143051147,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.690887451171875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5834246873855591},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.5726492404937744},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5702458024024963},{"id":"https://openalex.org/keywords/interpretability","display_name":"Interpretability","score":0.5478626489639282},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5299476385116577},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.48717162013053894},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.46721163392066956},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34987714886665344},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1603964865207672},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07334694266319275}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.690887451171875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5834246873855591},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.5726492404937744},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5702458024024963},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.5478626489639282},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5299476385116577},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.48717162013053894},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.46721163392066956},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34987714886665344},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1603964865207672},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07334694266319275},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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":2,"locations":[{"id":"doi:10.1109/lcsys.2023.3339443","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lcsys.2023.3339443","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},{"id":"pmh:oai:repository.arizona.edu:10150/671092","is_oa":true,"landing_page_url":"http://hdl.handle.net/10150/671092","pdf_url":"https://repository.arizona.edu/bitstream/10150/671092/1/main_FINAL_VERSION.pdf","source":{"id":"https://openalex.org/S4306400271","display_name":"UA Campus Repository (The University of Arizona)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138006243","host_organization_name":"University of Arizona","host_organization_lineage":["https://openalex.org/I138006243"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"3626","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:repository.arizona.edu:10150/671092","is_oa":true,"landing_page_url":"http://hdl.handle.net/10150/671092","pdf_url":"https://repository.arizona.edu/bitstream/10150/671092/1/main_FINAL_VERSION.pdf","source":{"id":"https://openalex.org/S4306400271","display_name":"UA Campus Repository (The University of Arizona)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138006243","host_organization_name":"University of Arizona","host_organization_lineage":["https://openalex.org/I138006243"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"3626","raw_type":"Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.550000011920929,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2049552774","display_name":null,"funder_award_id":"DMS-1937229","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7103897083","display_name":null,"funder_award_id":"1937229","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8554696214","display_name":null,"funder_award_id":"DMS-1937229","funder_id":"https://openalex.org/F4320310160","funder_display_name":"University of Arizona"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320310160","display_name":"University of Arizona","ror":"https://ror.org/03m2x1q45"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389331816.pdf","grobid_xml":"https://content.openalex.org/works/W4389331816.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1487586009","https://openalex.org/W1975904651","https://openalex.org/W1980516134","https://openalex.org/W1991113069","https://openalex.org/W1999244633","https://openalex.org/W2009447937","https://openalex.org/W2061123497","https://openalex.org/W2088471261","https://openalex.org/W2092663520","https://openalex.org/W2169528473","https://openalex.org/W2561843528","https://openalex.org/W2768346313","https://openalex.org/W2809671526","https://openalex.org/W2887284695","https://openalex.org/W2963056268","https://openalex.org/W2963395620","https://openalex.org/W2963800981","https://openalex.org/W2963806607","https://openalex.org/W3003794402","https://openalex.org/W3011620746","https://openalex.org/W3035467628","https://openalex.org/W3035535292","https://openalex.org/W3048898899","https://openalex.org/W3120677860","https://openalex.org/W3135791089","https://openalex.org/W3158223869","https://openalex.org/W3163993681","https://openalex.org/W3216756000","https://openalex.org/W3217708358","https://openalex.org/W4206142625","https://openalex.org/W4225283319","https://openalex.org/W4302609762","https://openalex.org/W4321599785","https://openalex.org/W4395696921","https://openalex.org/W6852481230"],"related_works":["https://openalex.org/W2905433371","https://openalex.org/W2888392564","https://openalex.org/W2359600231","https://openalex.org/W2115970849","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"We":[0,78,158],"present":[1,79,159],"a":[2,80,147],"semi-real-time":[3,81,136],"algorithm":[4,82,161],"for":[5,74,83,139],"minimal-time":[6],"optimal":[7,12,26,84],"path":[8,27,85,109],"planning":[9,28,86],"based":[10,25,95,108],"on":[11,96],"control":[13],"theory,":[14],"dynamic":[15],"programming,":[16],"and":[17,35,66,121,130,137,156],"Hamilton-Jacobi":[18],"(HJ)":[19],"equations.":[20],"Partial":[21],"differential":[22],"equation":[23],"(PDE)":[24],"methods":[29,57,94],"are":[30,67],"well-established":[31],"in":[32,70,87,135,150],"the":[33,48,88,104,113,126,152,160],"literature,":[34],"provide":[36],"an":[37],"interpretable":[38],"alternative":[39],"to":[40,47,62,164,179],"black-box":[41],"machine":[42],"learning":[43],"algorithms.":[44],"However,":[45],"due":[46],"computational":[49],"burden":[50],"of":[51,106,128,167],"grid-based":[52],"PDE":[53,107],"solvers,":[54],"many":[55,180],"previous":[56],"do":[58],"not":[59,68,123],"scale":[60],"well":[61],"high":[63],"dimensional":[64,76],"problems":[65],"applicable":[69],"real-time":[71],"scenarios":[72],"even":[73],"low":[75],"problems.":[77,182],"HJ":[89],"formulation,":[90],"using":[91],"grid-free":[92],"numerical":[93,114],"Hopf-Lax":[97],"formulas.":[98],"In":[99],"doing":[100],"so,":[101],"we":[102],"retain":[103],"intepretablity":[105],"planning,":[110,170],"but":[111],"because":[112],"method":[115],"is":[116,119],"grid-free,":[117],"it":[118,175],"efficient":[120],"does":[122],"suffer":[124],"from":[125],"curse":[127],"dimensionality,":[129],"thus":[131],"can":[132],"be":[133,177],"applied":[134,178],"account":[138],"realistic":[140],"concerns":[141],"like":[142],"obstacle":[143],"discovery.":[144],"This":[145],"represents":[146],"significant":[148],"step":[149],"averting":[151],"tradeoff":[153],"between":[154],"interpretability":[155],"efficiency.":[157],"with":[162,172],"application":[163],"synthetic":[165],"examples":[166],"isotropic":[168],"motion":[169],"though":[171],"slight":[173],"adjustments,":[174],"could":[176],"other":[181]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}
