{"id":"https://openalex.org/W4379382641","doi":"https://doi.org/10.1109/lra.2023.3282788","title":"Solving Rearrangement Puzzles Using Path Defragmentation in Factored State Spaces","display_name":"Solving Rearrangement Puzzles Using Path Defragmentation in Factored State Spaces","publication_year":2023,"publication_date":"2023-06-05","ids":{"openalex":"https://openalex.org/W4379382641","doi":"https://doi.org/10.1109/lra.2023.3282788"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3282788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3282788","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052460927","display_name":"Servet B. Bayraktar","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Servet B. Bayraktar","raw_affiliation_strings":["Technical University of Berlin, Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024839170","display_name":"Andreas Orthey","orcid":"https://orcid.org/0000-0002-1478-1405"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Orthey","raw_affiliation_strings":["Technical University of Berlin, Berlin, Germany","Realtime Robotics, Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1478-1405","affiliations":[{"raw_affiliation_string":"Technical University of Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]},{"raw_affiliation_string":"Realtime Robotics, Boston, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088789391","display_name":"Zachary Kingston","orcid":"https://orcid.org/0000-0002-3896-5110"},"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":false,"raw_author_name":"Zachary Kingston","raw_affiliation_strings":["Rice University, Houston, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-3896-5110","affiliations":[{"raw_affiliation_string":"Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065672819","display_name":"Marc Toussaint","orcid":"https://orcid.org/0000-0002-5487-6767"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Toussaint","raw_affiliation_strings":["Technical University of Berlin, Berlin, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5487-6767","affiliations":[{"raw_affiliation_string":"Technical University of Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067205988","display_name":"Lydia E. Kavraki","orcid":"https://orcid.org/0000-0003-0699-8038"},"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":false,"raw_author_name":"Lydia E. Kavraki","raw_affiliation_strings":["Rice University, Houston, TX, USA"],"raw_orcid":"https://orcid.org/0000-0003-0699-8038","affiliations":[{"raw_affiliation_string":"Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2345,"currency":"USD","value_usd":2345},"apc_paid":null,"fwci":0.3802,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.54410897,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"8","issue":"8","first_page":"4529","last_page":"4536"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9958000183105469,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.989300012588501,"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/path","display_name":"Path (computing)","score":0.6779349446296692},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6116350293159485},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5978977084159851},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.593456506729126},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5785795450210571},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.5723981261253357},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5441568493843079},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4905950129032135},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4475204348564148},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.43864500522613525},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41224268078804016},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3534371852874756},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3379459083080292},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32385313510894775},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.12343773245811462}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6779349446296692},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6116350293159485},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5978977084159851},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.593456506729126},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5785795450210571},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5723981261253357},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5441568493843079},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4905950129032135},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4475204348564148},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.43864500522613525},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41224268078804016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3534371852874756},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3379459083080292},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32385313510894775},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.12343773245811462},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3282788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3282788","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1502517891","https://openalex.org/W1963969090","https://openalex.org/W1964478285","https://openalex.org/W1971086298","https://openalex.org/W2044995998","https://openalex.org/W2110762409","https://openalex.org/W2116341587","https://openalex.org/W2141664020","https://openalex.org/W2163171217","https://openalex.org/W2169127893","https://openalex.org/W2293698677","https://openalex.org/W2402990501","https://openalex.org/W2403069916","https://openalex.org/W2490090381","https://openalex.org/W2518940182","https://openalex.org/W2735300570","https://openalex.org/W2738075826","https://openalex.org/W2786893837","https://openalex.org/W2793955514","https://openalex.org/W2805883505","https://openalex.org/W2807395222","https://openalex.org/W2986717012","https://openalex.org/W3004407706","https://openalex.org/W3022958460","https://openalex.org/W3039141704","https://openalex.org/W3091295346","https://openalex.org/W3098336417","https://openalex.org/W3103940950","https://openalex.org/W3104605181","https://openalex.org/W3128894241","https://openalex.org/W3138026026","https://openalex.org/W3169676024","https://openalex.org/W3175083647","https://openalex.org/W3195008896","https://openalex.org/W3203645530","https://openalex.org/W3206144464","https://openalex.org/W4213342125","https://openalex.org/W4283780127","https://openalex.org/W4285102382","https://openalex.org/W4292825907","https://openalex.org/W4293769215","https://openalex.org/W4387928338","https://openalex.org/W6684397538","https://openalex.org/W6713184877","https://openalex.org/W6713200026","https://openalex.org/W6780832807","https://openalex.org/W6849347794"],"related_works":["https://openalex.org/W2060743914","https://openalex.org/W2155467318","https://openalex.org/W3212692130","https://openalex.org/W2171066421","https://openalex.org/W1967495730","https://openalex.org/W2128280661","https://openalex.org/W2046356179","https://openalex.org/W2149431603","https://openalex.org/W2297635611","https://openalex.org/W2903765850"],"abstract_inverted_index":{"Rearrangement":[0],"puzzles":[1,113],"are":[2,14],"variations":[3],"of":[4,11,42,47,51,73,82],"rearrangement":[5,104],"problems":[6],"in":[7,133],"which":[8,67,91],"the":[9,40,43,80,122],"elements":[10],"a":[12,26,32,65,70,77,86,107],"problem":[13],"potentially":[15],"logically":[16],"linked":[17],"together.":[18],"To":[19],"efficiently":[20],"solve":[21,76,102],"such":[22],"puzzles,":[23],"we":[24,60],"develop":[25],"motion":[27],"planning":[28],"approach":[29,84],"based":[30],"on":[31,55],"new":[33,87],"state":[34,58],"space":[35],"that":[36],"is":[37],"logicallyfactored,":[38],"integrating":[39],"capabilities":[41],"robot":[44],"through":[45],"factors":[46],"simultaneously":[48],"manipulatable":[49],"joints":[50],"an":[52,115],"object.":[53],"Based":[54],"this":[56],"factored":[57],"space,":[59],"propose":[61],"less-actions":[62],"RRT":[63],"(LA-RRT),":[64],"planner":[66,126],"optimizes":[68,94],"for":[69],"low":[71],"number":[72],"actions":[74],"to":[75,97,129],"puzzle.":[78],"At":[79],"core":[81],"our":[83],"lies":[85],"path":[88],"defragmentation":[89],"method,":[90],"rearranges":[92],"and":[93,114],"consecutive":[95],"edges":[96],"minimize":[98],"action":[99,135],"cost.":[100,136],"We":[101],"six":[103],"scenarios":[105],"with":[106],"Fetch":[108],"robot,":[109],"involving":[110],"planar":[111],"table":[112],"escape":[116],"room":[117],"scenario.":[118],"LA-RRT":[119],"significantly":[120],"outperforms":[121],"next":[123],"best":[124],"asymptotically-optimal":[125],"by":[127],"4.01":[128],"6.58":[130],"times":[131],"improvement":[132],"final":[134]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
