{"id":"https://openalex.org/W4293769215","doi":"https://doi.org/10.1109/lra.2022.3199676","title":"Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning","display_name":"Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning","publication_year":2022,"publication_date":"2022-08-29","ids":{"openalex":"https://openalex.org/W4293769215","doi":"https://doi.org/10.1109/lra.2022.3199676"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3199676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3199676","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2210.09367","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070481627","display_name":"Wil Thomason","orcid":"https://orcid.org/0000-0001-6200-9762"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Wil Thomason","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069575110","display_name":"Marlin P. Strub","orcid":"https://orcid.org/0000-0003-2185-5852"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marlin P. Strub","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035590505","display_name":"Jonathan D. Gammell","orcid":"https://orcid.org/0000-0002-1034-3889"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan D. Gammell","raw_affiliation_strings":["Estimation, Search, and Planning (ESP) Group, Oxford Robotics Institute, University of Oxford, Oxford, U.K"],"affiliations":[{"raw_affiliation_string":"Estimation, Search, and Planning (ESP) Group, Oxford Robotics Institute, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5070481627"],"corresponding_institution_ids":["https://openalex.org/I74775410"],"apc_list":null,"apc_paid":null,"fwci":1.6337,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.84949656,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"7","issue":"4","first_page":"11370","last_page":"11377"},"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":0.9988999962806702,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983999729156494,"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":0.7468506097793579},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6484196186065674},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6373381614685059},{"id":"https://openalex.org/keywords/asymptotically-optimal-algorithm","display_name":"Asymptotically optimal algorithm","score":0.633554220199585},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5775048732757568},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.553315281867981},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5422514081001282},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.47501620650291443},{"id":"https://openalex.org/keywords/completeness","display_name":"Completeness (order theory)","score":0.4435361623764038},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.4167512059211731},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33589035272598267},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3010563552379608},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26211684942245483},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20060861110687256}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7468506097793579},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6484196186065674},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6373381614685059},{"id":"https://openalex.org/C181789720","wikidata":"https://www.wikidata.org/wiki/Q4812191","display_name":"Asymptotically optimal algorithm","level":2,"score":0.633554220199585},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5775048732757568},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.553315281867981},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5422514081001282},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.47501620650291443},{"id":"https://openalex.org/C17231256","wikidata":"https://www.wikidata.org/wiki/Q5156540","display_name":"Completeness (order theory)","level":2,"score":0.4435361623764038},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.4167512059211731},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33589035272598267},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3010563552379608},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26211684942245483},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20060861110687256},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"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":3,"locations":[{"id":"doi:10.1109/lra.2022.3199676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3199676","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:arXiv.org:2210.09367","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2210.09367","pdf_url":"https://arxiv.org/pdf/2210.09367","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:f4f7b585-3a35-48a8-8553-dacfb81e047a","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:f4f7b585-3a35-48a8-8553-dacfb81e047a","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symplectic Elements","raw_type":"Journal article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2210.09367","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2210.09367","pdf_url":"https://arxiv.org/pdf/2210.09367","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W169516377","https://openalex.org/W1424654272","https://openalex.org/W1480909796","https://openalex.org/W1545688112","https://openalex.org/W1572277334","https://openalex.org/W1667362966","https://openalex.org/W1814533834","https://openalex.org/W1971086298","https://openalex.org/W2041753526","https://openalex.org/W2075577325","https://openalex.org/W2110762409","https://openalex.org/W2137496616","https://openalex.org/W2141753064","https://openalex.org/W2141841102","https://openalex.org/W2156123119","https://openalex.org/W2403069916","https://openalex.org/W2479648088","https://openalex.org/W2490090381","https://openalex.org/W2512139417","https://openalex.org/W2738075826","https://openalex.org/W2794922736","https://openalex.org/W2984756091","https://openalex.org/W2998587882","https://openalex.org/W3001865277","https://openalex.org/W3022958460","https://openalex.org/W3090359198","https://openalex.org/W3098499184","https://openalex.org/W3103346840","https://openalex.org/W3104605181","https://openalex.org/W3128894241","https://openalex.org/W3134666331","https://openalex.org/W3160479505","https://openalex.org/W3195008896","https://openalex.org/W4206807714","https://openalex.org/W4213342125","https://openalex.org/W4226071783","https://openalex.org/W4283780127","https://openalex.org/W4300448178","https://openalex.org/W4301014524","https://openalex.org/W4385694147","https://openalex.org/W6634300341","https://openalex.org/W6636950635","https://openalex.org/W6713184877","https://openalex.org/W6791584062"],"related_works":["https://openalex.org/W2022544890","https://openalex.org/W2394097730","https://openalex.org/W4237277701","https://openalex.org/W2475378634","https://openalex.org/W4312353617","https://openalex.org/W2113405914","https://openalex.org/W2260963831","https://openalex.org/W4211055164","https://openalex.org/W2288650507","https://openalex.org/W1982803547"],"abstract_inverted_index":{"High-level":[0],"autonomy":[1],"requires":[2],"discrete":[3,36],"and":[4,14,21,46,70,77,83,93,95,134,150,160,170,190],"continuous":[5,48],"reasoning":[6],"to":[7,12,16,31,163,186],"decide":[8],"both":[9,81,128],"what":[10],"actions":[11,38],"take":[13],"how":[15],"execute":[17],"them.":[18],"Integrated":[19],"Task":[20,133],"Motion":[22,135],"Planning":[23],"(TMP)":[24],"algorithms":[25,75],"solve":[26,187],"these":[27],"hybrid":[28,180],"problems":[29,63,188],"jointly":[30,126],"consider":[32],"constraints":[33],"between":[34],"the":[35,40,68,105,109,114,178,194,204],"symbolic":[37],"(i.e.,":[39,51],"<italic":[41,52,116],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[42,53,117],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">task":[43],"plan</i>":[44],")":[45],"their":[47],"geometric":[49],"realization":[50],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">motion":[54],"plans</i>":[55],").":[56],"This":[57,130,183],"joint":[58],"approach":[59],"solves":[60],"more":[61],"difficult":[62,103],"than":[64],"approaches":[65],"that":[66,143],"address":[67],"task":[69,82,148],"motion":[71,84,154],"subproblems":[72,110],"independently.":[73],"TMP":[74,86,101,141],"combine":[76],"extend":[78],"results":[79,145],"from":[80,146],"planning.":[85,155],"has":[87],"mainly":[88],"focused":[89],"on":[90,97,203],"computational":[91,199],"performance":[92],"completeness":[94],"less":[96],"solution":[98,196],"optimality.":[99],"Optimal":[100],"is":[102],"because":[104],"independent":[106],"optima":[107],"of":[108],"may":[111],"not":[112],"be":[113,123],"optimal":[115,140,153,195],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">integrated</i>":[118],"solution,":[119],"which":[120],"can":[121],"only":[122],"found":[124],"by":[125],"optimizing":[127],"plans.":[129],"letter":[131],"presents":[132],"Informed":[136],"Trees":[137],"(TMIT*),":[138],"an":[139,172],"algorithm":[142],"combines":[144],"makespan-optimal":[147],"planning":[149],"almost-surely":[151],"asymptotically":[152],"TMIT*":[156],"interleaves":[157],"asymmetric":[158],"forward":[159],"reverse":[161],"searches":[162],"delay":[164],"computationally":[165],"expensive":[166],"operations":[167],"until":[168],"necessary":[169],"perform":[171],"efficient":[173],"informed":[174],"search":[175],"directly":[176],"in":[177],"problem's":[179],"state":[181],"space.":[182],"allows":[184],"it":[185],"quickly":[189],"then":[191],"converge":[192],"towards":[193],"with":[197],"additional":[198],"time,":[200],"as":[201],"demonstrated":[202],"evaluated":[205],"robotic-manipulation":[206],"benchmark":[207],"problems.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
