{"id":"https://openalex.org/W4378716065","doi":"https://doi.org/10.1109/lra.2023.3280820","title":"CollisionGP: Gaussian Process-Based Collision Checking for Robot Motion Planning","display_name":"CollisionGP: Gaussian Process-Based Collision Checking for Robot Motion Planning","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4378716065","doi":"https://doi.org/10.1109/lra.2023.3280820"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3280820","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3280820","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10128766/10137736.pdf","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":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/10128766/10137736.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012947569","display_name":"Javier Mu\u00f1oz","orcid":"https://orcid.org/0000-0001-5068-3303"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier Mu\u00f1oz","raw_affiliation_strings":["Department of Automation and Systems Engineering, Universidad Carlos III de Madrid, Legan&#x00E9;s, Spain"],"raw_orcid":"https://orcid.org/0000-0001-5068-3303","affiliations":[{"raw_affiliation_string":"Department of Automation and Systems Engineering, Universidad Carlos III de Madrid, Legan&#x00E9;s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019665140","display_name":"Peter Lehner","orcid":"https://orcid.org/0000-0002-3755-1186"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Peter Lehner","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), We&#x00DF;ling, Germany"],"raw_orcid":"https://orcid.org/0000-0002-3755-1186","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), We&#x00DF;ling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028039528","display_name":"Lu\u00eds Moreno","orcid":"https://orcid.org/0000-0002-4450-680X"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis E. Moreno","raw_affiliation_strings":["Department of Automation and Systems Engineering, Universidad Carlos III de Madrid, Legan&#x00E9;s, Spain"],"raw_orcid":"https://orcid.org/0000-0002-4450-680X","affiliations":[{"raw_affiliation_string":"Department of Automation and Systems Engineering, Universidad Carlos III de Madrid, Legan&#x00E9;s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080814983","display_name":"Alin Albu\u2010Sch\u00e4ffer","orcid":"https://orcid.org/0000-0001-5343-9074"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alin Albu-Sch\u00e4ffer","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), We&#x00DF;ling, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5343-9074","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), We&#x00DF;ling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048087019","display_name":"M\u00e1ximo A. Roa","orcid":"https://orcid.org/0000-0003-1708-4223"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M\u00e1ximo A. Roa","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), We&#x00DF;ling, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1708-4223","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), We&#x00DF;ling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":{"value":2188,"currency":"EUR","value_usd":2359},"fwci":1.7964,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.87240225,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"8","issue":"7","first_page":"4036","last_page":"4043"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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":0.9991000294685364,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9914000034332275,"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/collision","display_name":"Collision","score":0.7667037844657898},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7374727129936218},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.6341515779495239},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5756227374076843},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.5390396118164062},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.5348156094551086},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5233437418937683},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5070078372955322},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5026023387908936},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4856454133987427},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.47435057163238525},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.46759670972824097},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4497317671775818},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4490887224674225},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4464584290981293},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.4218597412109375},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.27604860067367554},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17186394333839417}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7667037844657898},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7374727129936218},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.6341515779495239},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5756227374076843},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.5390396118164062},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.5348156094551086},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5233437418937683},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5070078372955322},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5026023387908936},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4856454133987427},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.47435057163238525},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.46759670972824097},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4497317671775818},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4490887224674225},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4464584290981293},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.4218597412109375},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.27604860067367554},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17186394333839417},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C121955636","wikidata":"https://www.wikidata.org/wiki/Q4116214","display_name":"Accounting","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},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3280820","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3280820","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10128766/10137736.pdf","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:elib.dlr.de:196266","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2023.3280820>.","pdf_url":"https://elib.dlr.de/196266/1/RALpaperCollisionGP%20VF_copyright.pdf","source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"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":"PeerReviewed"}],"best_oa_location":{"id":"doi:10.1109/lra.2023.3280820","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3280820","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10128766/10137736.pdf","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"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1023038118","display_name":null,"funder_award_id":"H2020-MG-2019-TwoStages-861696","funder_id":"https://openalex.org/F4320335813","funder_display_name":"Innovation and Networks Executive Agency"},{"id":"https://openalex.org/G3349637332","display_name":null,"funder_award_id":"861696","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4937468798","display_name":null,"funder_award_id":"H2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5635955904","display_name":null,"funder_award_id":"H2020-MG-2019-TwoStages-861696","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320331012","display_name":"Bayerische Staatsministerium f\u00fcr Wirtschaft, Landesentwicklung und Energie","ror":null},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320335813","display_name":"Innovation and Networks Executive Agency","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4378716065.pdf","grobid_xml":"https://content.openalex.org/works/W4378716065.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1521785144","https://openalex.org/W1533660737","https://openalex.org/W1660808159","https://openalex.org/W1965555277","https://openalex.org/W1971937094","https://openalex.org/W2004139909","https://openalex.org/W2055201760","https://openalex.org/W2099878672","https://openalex.org/W2124543852","https://openalex.org/W2219970372","https://openalex.org/W2346637437","https://openalex.org/W2412669390","https://openalex.org/W2419216244","https://openalex.org/W2893995718","https://openalex.org/W2967969632","https://openalex.org/W3009220630","https://openalex.org/W3091091967","https://openalex.org/W3131058854","https://openalex.org/W3185327196","https://openalex.org/W3207460231","https://openalex.org/W4200632446","https://openalex.org/W4244577065","https://openalex.org/W4285102497","https://openalex.org/W6631732945","https://openalex.org/W6755463424","https://openalex.org/W6779375720"],"related_works":["https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W2257960210","https://openalex.org/W2028510469","https://openalex.org/W913501818","https://openalex.org/W4379525781","https://openalex.org/W1987135480","https://openalex.org/W566010457","https://openalex.org/W2600092203","https://openalex.org/W4300066510"],"abstract_inverted_index":{"Collision":[0],"checking":[1],"is":[2,85],"the":[3,50,71,79],"primitive":[4],"operation":[5],"of":[6,106],"motion":[7],"planning":[8],"that":[9,94],"consumes":[10],"most":[11],"time.":[12],"Machine":[13],"learning":[14],"algorithms":[15,127],"have":[16],"proven":[17],"to":[18,53,57,87,100],"accelerate":[19],"collision":[20,37,80,102,112],"checking.":[21],"We":[22,92],"propose":[23],"CollisionGP,":[24],"a":[25,31,41,62,68,74],"Gaussian":[26,65],"process-based":[27],"algorithm":[28],"for":[29,45,78,104],"modeling":[30],"robot's":[32],"configuration":[33],"space":[34],"and":[35,76,121],"query":[36],"checks.":[38],"CollisionGP":[39,95],"introduces":[40],"P\u00f2lya-Gamma":[42],"auxiliary":[43],"variable":[44],"each":[46],"data":[47],"point":[48],"in":[49],"training":[51],"set":[52],"allow":[54],"classification":[55],"inference":[56],"be":[58],"done":[59],"exactly":[60],"with":[61],"closed-form":[63],"expression.":[64],"processes":[66],"provide":[67],"distribution":[69],"as":[70],"output,":[72],"obtaining":[73],"mean":[75],"variance":[77,84],"check.":[81],"The":[82],"obtained":[83],"processed":[86],"reduce":[88],"false":[89],"negatives":[90],"(FN).":[91],"demonstrate":[93],"can":[96],"use":[97],"GPU":[98],"acceleration":[99],"process":[101],"checks":[103],"thousands":[105],"configurations":[107],"much":[108],"faster":[109],"than":[110,124],"traditional":[111],"detection":[113],"libraries.":[114],"Furthermore,":[115],"we":[116],"obtain":[117],"better":[118],"accuracy,":[119],"TPR":[120],"TNR":[122],"results":[123],"state-of-the-art":[125],"learning-based":[126],"using":[128],"less":[129],"support":[130],"points,":[131],"thus":[132],"making":[133],"our":[134],"proposed":[135],"method":[136],"more":[137],"sparse.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
