{"id":"https://openalex.org/W4409761946","doi":"https://doi.org/10.1109/lra.2025.3564204","title":"Planning Shorter Paths in Graphs of Convex Sets by Undistorting Parametrized Configuration Spaces","display_name":"Planning Shorter Paths in Graphs of Convex Sets by Undistorting Parametrized Configuration Spaces","publication_year":2025,"publication_date":"2025-04-24","ids":{"openalex":"https://openalex.org/W4409761946","doi":"https://doi.org/10.1109/lra.2025.3564204"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3564204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3564204","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Shruti Garg","orcid":"https://orcid.org/0009-0001-7936-395X"},"institutions":[{"id":"https://openalex.org/I126820664","display_name":"Vassar College","ror":"https://ror.org/022x6qg61","country_code":"US","type":"education","lineage":["https://openalex.org/I126820664"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shruti Garg","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA","Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, 32 Vassar St, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, 32 Vassar St, Cambridge, MA, USA","institution_ids":["https://openalex.org/I126820664","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047177769","display_name":"Thomas Cohn","orcid":"https://orcid.org/0000-0002-5411-0710"},"institutions":[{"id":"https://openalex.org/I126820664","display_name":"Vassar College","ror":"https://ror.org/022x6qg61","country_code":"US","type":"education","lineage":["https://openalex.org/I126820664"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Cohn","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA","Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, 32 Vassar St, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, 32 Vassar St, Cambridge, MA, USA","institution_ids":["https://openalex.org/I126820664","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074291890","display_name":"Russ Tedrake","orcid":null},"institutions":[{"id":"https://openalex.org/I126820664","display_name":"Vassar College","ror":"https://ror.org/022x6qg61","country_code":"US","type":"education","lineage":["https://openalex.org/I126820664"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Russ Tedrake","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA","Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, 32 Vassar St, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, 32 Vassar St, Cambridge, MA, USA","institution_ids":["https://openalex.org/I126820664","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I126820664","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":1.4196,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.81336962,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"10","issue":"6","first_page":"6183","last_page":"6190"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9871000051498413,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9871000051498413,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12292","display_name":"Graph Theory and Algorithms","score":0.9847000241279602,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9814000129699707,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.6611650586128235},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5013093948364258},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.45918363332748413},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3373644948005676},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.32333338260650635},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2671847939491272}],"concepts":[{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.6611650586128235},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5013093948364258},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.45918363332748413},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3373644948005676},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.32333338260650635},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2671847939491272}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3564204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3564204","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G4109425323","display_name":null,"funder_award_id":"2141064","funder_id":"https://openalex.org/F4562087700","funder_display_name":"National Science Foundation Graduate Research Fellowship Program"}],"funders":[{"id":"https://openalex.org/F4562087700","display_name":"National Science Foundation Graduate Research Fellowship Program","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W1976377608","https://openalex.org/W2019965290","https://openalex.org/W2022144657","https://openalex.org/W2080132051","https://openalex.org/W2099893201","https://openalex.org/W2128990851","https://openalex.org/W2610753682","https://openalex.org/W2964057747","https://openalex.org/W3004162504","https://openalex.org/W3044214824","https://openalex.org/W3123076862","https://openalex.org/W4211107109","https://openalex.org/W4254122873","https://openalex.org/W4383172031","https://openalex.org/W4388692454","https://openalex.org/W4401041664","https://openalex.org/W4401413680","https://openalex.org/W4401415458","https://openalex.org/W4401415684","https://openalex.org/W6605295560","https://openalex.org/W6838509148","https://openalex.org/W6851365516","https://openalex.org/W6870225885","https://openalex.org/W6873301195","https://openalex.org/W6873822926","https://openalex.org/W7020633815"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4391375266","https://openalex.org/W1979597421","https://openalex.org/W2007980826","https://openalex.org/W2061531152","https://openalex.org/W3002753104","https://openalex.org/W2077600819","https://openalex.org/W2142036596","https://openalex.org/W2072657027"],"abstract_inverted_index":{"Optimization":[0],"based":[1],"motion":[2],"planning":[3,102],"provides":[4],"a":[5,74,104,122,148],"useful":[6],"modeling":[7],"framework":[8],"through":[9],"various":[10],"costs":[11],"and":[12,27,121,143],"constraints.":[13],"Using":[14],"Graph":[15],"of":[16,25,37,115,125],"Convex":[17],"Sets":[18],"(GCS)":[19],"for":[20],"trajectory":[21,144],"optimization":[22,87],"gives":[23],"guarantees":[24],"feasibility":[26,91],"optimality":[28],"by":[29],"representing":[30],"configuration":[31],"space":[32],"as":[33,53,131],"the":[34,69,86,113,135],"finite":[35],"union":[36],"convex":[38,63],"sets.":[39],"Nonlinear":[40],"parametrization":[41,124],"can":[42],"be":[43],"used":[44],"to":[45,76,79,84],"extend":[46,77],"this":[47,57],"technique":[48],"(to":[49],"handle":[50],"cases":[51],"such":[52,61],"kinematic":[54],"loops),":[55],"but":[56],"often":[58],"distorts":[59],"distances":[60],"that":[62,127],"objectives":[64],"yield":[65],"paths":[66],"suboptimal":[67],"in":[68,151],"original":[70],"space.":[71],"We":[72,93],"present":[73],"method":[75,138],"GCS":[78],"nonconvex":[80],"objectives,":[81],"allowing":[82],"us":[83],"\u201cundistort\u201d":[85],"landscape":[88],"while":[89],"maintaining":[90],"guarantees.":[92],"demonstrate":[94],"our":[95,137],"method's":[96],"efficacy":[97],"on":[98],"three":[99],"different":[100],"robotic":[101],"domains:":[103],"bimanual":[105],"robot":[106],"moving":[107],"an":[108],"object":[109],"with":[110,146],"both":[111],"arms,":[112],"set":[114],"3D":[116],"rotations":[117],"using":[118],"Euler":[119],"angles,":[120],"rational":[123],"kinematics":[126],"enables":[128],"certifying":[129],"regions":[130],"collision":[132],"free.":[133],"Across":[134],"board,":[136],"significantly":[139],"improves":[140],"path":[141],"length":[142],"duration":[145],"only":[147],"minimal":[149],"increase":[150],"runtime.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}