{"id":"https://openalex.org/W2577634205","doi":"https://doi.org/10.1109/lra.2017.2653850","title":"Guiding Trajectory Optimization by Demonstrated Distributions","display_name":"Guiding Trajectory Optimization by Demonstrated Distributions","publication_year":2017,"publication_date":"2017-01-16","ids":{"openalex":"https://openalex.org/W2577634205","doi":"https://doi.org/10.1109/lra.2017.2653850","mag":"2577634205"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2653850","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2653850","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/Guiding_trajectory_optimization_by_demonstrated_distributions/24362812","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028032706","display_name":"Takayuki Osa","orcid":"https://orcid.org/0000-0002-6895-9088"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Takayuki Osa","raw_affiliation_strings":["Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043981561","display_name":"Amir M. Ghalamzan E.","orcid":"https://orcid.org/0000-0003-4589-0185"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Amir M. Ghalamzan Esfahani","raw_affiliation_strings":["University of Birmingham, Birmingham, U.K"],"affiliations":[{"raw_affiliation_string":"University of Birmingham, Birmingham, U.K","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005183926","display_name":"Rustam Stolkin","orcid":"https://orcid.org/0000-0002-0890-8836"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rustam Stolkin","raw_affiliation_strings":["University of Birmingham, Birmingham, U.K"],"affiliations":[{"raw_affiliation_string":"University of Birmingham, Birmingham, U.K","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033283742","display_name":"Rudolf Lioutikov","orcid":"https://orcid.org/0000-0002-8924-7514"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rudolf Lioutikov","raw_affiliation_strings":["Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Max-Planck-Institut f\u00fcr Intelligente Systeme, T\u00fcbingen, Germany","Technische Universit\u00e4t Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Max-Planck-Institut f\u00fcr Intelligente Systeme, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Technische Universit\u00e4t Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110467801","display_name":"Gerhard Neumann","orcid":"https://orcid.org/0000-0002-5483-4225"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gerhard Neumann","raw_affiliation_strings":["Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5028032706"],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":6.7268,"has_fulltext":false,"cited_by_count":57,"citation_normalized_percentile":{"value":0.97073738,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"2","issue":"2","first_page":"819","last_page":"826"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9988999962806702,"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/trajectory","display_name":"Trajectory","score":0.8779644966125488},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.8306931257247925},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7401156425476074},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6574065685272217},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5329158306121826},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5096144676208496},{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.4933835566043854},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.49336710572242737},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4864473342895508},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46789848804473877},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.43021607398986816},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3349613547325134},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3319935202598572},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16770756244659424},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1573997139930725},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14109259843826294},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11754578351974487}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8779644966125488},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.8306931257247925},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7401156425476074},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6574065685272217},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5329158306121826},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5096144676208496},{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.4933835566043854},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.49336710572242737},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4864473342895508},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46789848804473877},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.43021607398986816},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3349613547325134},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3319935202598572},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16770756244659424},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1573997139930725},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14109259843826294},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11754578351974487},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems 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}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/lra.2017.2653850","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2653850","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:eprints.lincoln.ac.uk:26731","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196275","display_name":"Lincoln Repository (University of Lincoln)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I51532219","host_organization_name":"University of Lincoln","host_organization_lineage":["https://openalex.org/I51532219"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:escidoc.org:escidoc:2577704","is_oa":false,"landing_page_url":"http://hdl.handle.net/21.11116/0000-0001-2597-B","pdf_url":null,"source":{"id":"https://openalex.org/S7407052962","display_name":"Max Planck Digital Library","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:figshare.com:article/24362812","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Guiding_trajectory_optimization_by_demonstrated_distributions/24362812","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/f824c9d3-7764-4961-a496-6833db108b4f","is_oa":false,"landing_page_url":"https://research.birmingham.ac.uk/en/publications/f824c9d3-7764-4961-a496-6833db108b4f","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Osa, T, Ghalamzan Esfahani, A M, Stolkin, R, Lioutikov , R, Peters, J & Neumann, G 2017, 'Guiding Trajectory Optimization by Demonstrated Distributions', IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 819-826. https://doi.org/10.1109/LRA.2017.2653850","raw_type":"article"},{"id":"pmh:oai:zenodo.org:3494518","is_oa":true,"landing_page_url":"https://zenodo.org/record/3494518","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/24362812","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Guiding_trajectory_optimization_by_demonstrated_distributions/24362812","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W102487131","https://openalex.org/W1483423851","https://openalex.org/W1560270123","https://openalex.org/W1597173708","https://openalex.org/W1689445748","https://openalex.org/W1986014385","https://openalex.org/W1994691148","https://openalex.org/W2018346149","https://openalex.org/W2100993276","https://openalex.org/W2113698995","https://openalex.org/W2128160875","https://openalex.org/W2140801763","https://openalex.org/W2141098361","https://openalex.org/W2142224528","https://openalex.org/W2152536965","https://openalex.org/W2161819990","https://openalex.org/W2265738287","https://openalex.org/W2293818481","https://openalex.org/W2331138946","https://openalex.org/W2338205278","https://openalex.org/W2515082088","https://openalex.org/W2570764145","https://openalex.org/W2586840159","https://openalex.org/W2949071206","https://openalex.org/W2963930094","https://openalex.org/W3104753760","https://openalex.org/W4211008118","https://openalex.org/W6680971464","https://openalex.org/W6692971311","https://openalex.org/W6703214588"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W2356996864","https://openalex.org/W4244391535","https://openalex.org/W2015393961","https://openalex.org/W2904060783","https://openalex.org/W2378339670","https://openalex.org/W2101105382","https://openalex.org/W2359353485","https://openalex.org/W2139910871","https://openalex.org/W2361427670"],"abstract_inverted_index":{"Trajectory":[0],"optimization":[1,169],"is":[2,69,74],"an":[3,84],"essential":[4,180],"tool":[5],"for":[6,60],"motion":[7,140],"planning":[8,141],"under":[9],"multiple":[10],"constraints":[11],"of":[12,26,104,114,147,156],"robotic":[13,200],"manipulators.":[14],"Optimization-based":[15],"methods":[16,42,82,92],"can":[17],"explicitly":[18],"optimize":[19],"a":[20,45,61,67,70,139,154,198],"trajectory":[21,168,173,189,209],"by":[22,159],"leveraging":[23],"prior":[24],"knowledge":[25],"the":[27,53,102,108,112,116,132,145,167,175,183,188,208,215,219],"system":[28],"and":[29,99,149,162,196,213],"have":[30],"been":[31,128],"used":[32],"in":[33,49,131,218],"various":[34],"applications":[35],"such":[36,57],"as":[37],"collision":[38],"avoidance.":[39],"However,":[40,111],"these":[41],"often":[43,75],"require":[44],"hand-coded":[46],"cost":[47,58],"function":[48,59],"order":[50],"to":[51,87,118,165,181,190,210],"achieve":[52],"desired":[54,63],"behavior.":[55],"Specifying":[56],"complex":[62],"behavior,":[64],"e.g.,":[65,121],"disentangling":[66],"rope,":[68],"nontrivial":[71],"task":[72,184],"that":[73,143,204],"even":[76],"infeasible.":[77],"Learning":[78],"from":[79,107],"demonstration":[80],"(LfD)":[81],"offer":[83],"alternative":[85],"way":[86],"program":[88],"robot":[89],"motion.":[90],"LfD":[91],"are":[93,179],"less":[94],"dependent":[95],"on":[96],"analytical":[97],"models":[98],"instead":[100],"learn":[101,153],"behavior":[103,217],"experts":[105,161],"implicitly":[106],"demonstrated":[109,158,176,216],"trajectories.":[110],"problem":[113],"adapting":[115,187],"demonstrations":[117],"new":[119],"situations,":[120],"avoiding":[122],"newly":[123],"introduced":[124],"obstacles,":[125],"has":[126],"not":[127],"fully":[129],"investigated":[130],"literature.":[133],"In":[134,193],"this":[135],"letter,":[136],"we":[137,202],"present":[138],"framework":[142],"combines":[144],"advantages":[146],"optimization-based":[148],"demonstration-based":[150],"methods.":[151],"We":[152],"distribution":[155],"trajectories":[157],"human":[160],"use":[163],"it":[164],"guide":[166],"process.":[170],"The":[171],"resulting":[172,220],"maintains":[174],"behaviors,":[177],"which":[178],"performing":[182],"successfully,":[185],"while":[186],"avoid":[191,211],"obstacles.":[192],"simulated":[194],"experiments":[195],"with":[197],"real":[199],"system,":[201],"verify":[203],"our":[205],"approach":[206],"optimizes":[207],"obstacles":[212],"encodes":[214],"trajectory.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":9}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
