{"id":"https://openalex.org/W4410886966","doi":"https://doi.org/10.1109/lra.2025.3575307","title":"Global Tensor Motion Planning","display_name":"Global Tensor Motion Planning","publication_year":2025,"publication_date":"2025-05-30","ids":{"openalex":"https://openalex.org/W4410886966","doi":"https://doi.org/10.1109/lra.2025.3575307"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3575307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3575307","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":"https://openalex.org/A5102888876","display_name":"An T. Le","orcid":"https://orcid.org/0000-0003-0929-3316"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"An T. Le","raw_affiliation_strings":["Intelligent Autonomous Systems Lab, TU Darmstadt, Darmstadt, Germany"],"raw_orcid":"https://orcid.org/0000-0003-0929-3316","affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000980093","display_name":"Kay Hansel","orcid":"https://orcid.org/0000-0002-8448-4510"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kay Pompetzki","raw_affiliation_strings":["Intelligent Autonomous Systems Lab, TU Darmstadt, Darmstadt, Germany"],"raw_orcid":"https://orcid.org/0000-0002-8448-4510","affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103333494","display_name":"Jo\u00e3o Carvalho","orcid":"https://orcid.org/0000-0002-5976-959X"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jo\u00e3o Carvalho","raw_affiliation_strings":["Intelligent Autonomous Systems Lab, TU Darmstadt, Darmstadt, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5976-959X","affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102799337","display_name":"Joe Watson","orcid":"https://orcid.org/0000-0003-2354-3369"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Joe Watson","raw_affiliation_strings":["Intelligent Autonomous Systems Lab, TU Darmstadt, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067156748","display_name":"Julen Urain","orcid":"https://orcid.org/0000-0003-1135-6654"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Julen Urain","raw_affiliation_strings":["Intelligent Autonomous Systems Lab, TU Darmstadt, Darmstadt, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1135-6654","affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003236640","display_name":"Armin Biess","orcid":"https://orcid.org/0000-0002-0087-3675"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Armin Biess","raw_affiliation_strings":["Intelligent Autonomous Systems Lab, TU Darmstadt, Darmstadt, Germany"],"raw_orcid":"https://orcid.org/0000-0002-0087-3675","affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026055366","display_name":"Georgia Chalvatzaki","orcid":"https://orcid.org/0000-0002-5055-199X"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georgia Chalvatzaki","raw_affiliation_strings":["Intelligent Autonomous Systems Lab, TU Darmstadt, Darmstadt, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5055-199X","affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","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":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Intelligent Autonomous Systems Lab, TU Darmstadt, Darmstadt, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5266-8091","affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8699,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.85706246,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"10","issue":"7","first_page":"7302","last_page":"7309"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9955000281333923,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9884999990463257,"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","display_name":"Motion (physics)","score":0.47882893681526184},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47273528575897217},{"id":"https://openalex.org/keywords/tensor","display_name":"Tensor (intrinsic definition)","score":0.41907554864883423},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.300210177898407},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26039189100265503},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17235037684440613}],"concepts":[{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.47882893681526184},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47273528575897217},{"id":"https://openalex.org/C155281189","wikidata":"https://www.wikidata.org/wiki/Q3518150","display_name":"Tensor (intrinsic definition)","level":2,"score":0.41907554864883423},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.300210177898407},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26039189100265503},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17235037684440613}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3575307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3575307","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1502517891","https://openalex.org/W1603765807","https://openalex.org/W1864112212","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W2027931070","https://openalex.org/W2040035439","https://openalex.org/W2094058241","https://openalex.org/W2105248582","https://openalex.org/W2110762409","https://openalex.org/W2122410182","https://openalex.org/W2124543852","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2145882751","https://openalex.org/W2161819990","https://openalex.org/W2736887377","https://openalex.org/W2963439114","https://openalex.org/W3004407706","https://openalex.org/W3006249771","https://openalex.org/W3011646207","https://openalex.org/W3024920635","https://openalex.org/W3034118413","https://openalex.org/W3089868768","https://openalex.org/W3102334304","https://openalex.org/W3165149185","https://openalex.org/W3199379010","https://openalex.org/W4206575475","https://openalex.org/W4233840023","https://openalex.org/W4242811155","https://openalex.org/W4313011305","https://openalex.org/W4383172031","https://openalex.org/W4385430497","https://openalex.org/W4388868804","https://openalex.org/W4389665935","https://openalex.org/W4401416897","https://openalex.org/W6682962330","https://openalex.org/W6785954647","https://openalex.org/W6801436214","https://openalex.org/W6803204836","https://openalex.org/W6846375178","https://openalex.org/W6857527914"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Batch":[0],"planning":[1,33,107],"is":[2],"increasingly":[3],"necessary":[4],"to":[5,109],"quickly":[6],"produce":[7],"diverse":[8,120],"and":[9,20,57,97,122],"quality":[10],"motion":[11,32],"plans":[12,85],"for":[13,119],"downstream":[14],"learning":[15,125],"applications,":[16],"such":[17],"as":[18,46,114],"distillation":[19],"imitation":[21],"learning.":[22],"This":[23],"paper":[24],"presents":[25],"Global":[26],"Tensor":[27],"Motion":[28],"Planning":[29],"(GTMP)\u2014a":[30],"sampling-based":[31],"algorithm":[34],"comprising":[35],"only":[36],"tensor":[37],"operations.":[38],"We":[39,59],"introduce":[40],"a":[41,47,61,115],"novel":[42],"discretization":[43],"structure":[44],"represented":[45],"random":[48],"multipartite":[49,81],"graph,":[50,82],"enabling":[51],"efficient":[52],"vectorized":[53],"sampling,":[54],"collision":[55],"checking,":[56],"search.":[58],"provide":[60],"theoretical":[62],"investigation":[63],"showing":[64],"that":[65],"GTMP":[66,83],"exhibits":[67],"probabilistic":[68],"completeness":[69],"while":[70],"supporting":[71],"modern":[72],"GPU/TPU.":[73],"Additionally,":[74],"by":[75],"incorporating":[76],"smooth":[77,86],"structures":[78],"into":[79],"the":[80,98],"directly":[84],"splines":[87],"without":[88],"requiring":[89],"gradient-based":[90],"optimization.":[91],"Experiments":[92],"on":[93],"lidar-scanned":[94],"occupancy":[95],"maps":[96],"MotionBenchMarker":[99],"dataset":[100],"demonstrate":[101],"GTMP's":[102,112],"computation":[103],"efficiency":[104],"in":[105],"batch":[106],"compared":[108],"baselines,":[110],"underscoring":[111],"potential":[113],"robust,":[116],"scalable":[117],"planner":[118],"applications":[121],"large-scale":[123],"robot":[124],"tasks.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
