{"id":"https://openalex.org/W2729017031","doi":"https://doi.org/10.1109/mrs.2017.8250940","title":"Scalable asymptotically-optimal multi-robot motion planning","display_name":"Scalable asymptotically-optimal multi-robot motion planning","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2729017031","doi":"https://doi.org/10.1109/mrs.2017.8250940","mag":"2729017031"},"language":"en","primary_location":{"id":"doi:10.1109/mrs.2017.8250940","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mrs.2017.8250940","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1706.09932","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045652940","display_name":"Andrew Dobson","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Andrew Dobson","raw_affiliation_strings":["Computer Science Dept., Rutgers Univ., NJ, USA","Computer Science Dept. of Rutgers Univ., NJ, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Dept., Rutgers Univ., NJ, USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Computer Science Dept. of Rutgers Univ., NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000480439","display_name":"Kiril Solovey","orcid":"https://orcid.org/0000-0003-0254-0572"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Kiril Solovey","raw_affiliation_strings":["Computer Science Dept., Tel Aviv University, Israel","Computer Science Dept. of Tel Aviv University, Israel"],"affiliations":[{"raw_affiliation_string":"Computer Science Dept., Tel Aviv University, Israel","institution_ids":["https://openalex.org/I16391192"]},{"raw_affiliation_string":"Computer Science Dept. of Tel Aviv University, Israel","institution_ids":["https://openalex.org/I16391192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076976011","display_name":"Rahul Shome","orcid":"https://orcid.org/0000-0002-1689-9220"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rahul Shome","raw_affiliation_strings":["Computer Science Dept., Rutgers Univ., NJ, USA","Computer Science Dept. of Rutgers Univ., NJ, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Dept., Rutgers Univ., NJ, USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Computer Science Dept. of Rutgers Univ., NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038503253","display_name":"Dan Halperin","orcid":"https://orcid.org/0000-0002-3345-3765"},"institutions":[{"id":"https://openalex.org/I16391192","display_name":"Tel Aviv University","ror":"https://ror.org/04mhzgx49","country_code":"IL","type":"education","lineage":["https://openalex.org/I16391192"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Dan Halperin","raw_affiliation_strings":["Computer Science Dept., Tel Aviv University, Israel","Computer Science Dept. of Tel Aviv University, Israel"],"affiliations":[{"raw_affiliation_string":"Computer Science Dept., Tel Aviv University, Israel","institution_ids":["https://openalex.org/I16391192"]},{"raw_affiliation_string":"Computer Science Dept. of Tel Aviv University, Israel","institution_ids":["https://openalex.org/I16391192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas E. Bekris","raw_affiliation_strings":["Computer Science Dept., Rutgers Univ., NJ, USA","Computer Science Dept. of Rutgers Univ., NJ, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Dept., Rutgers Univ., NJ, USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Computer Science Dept. of Rutgers Univ., NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5045652940"],"corresponding_institution_ids":["https://openalex.org/I102322142"],"apc_list":null,"apc_paid":null,"fwci":0.7396,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.80610307,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"120","last_page":"127"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/robot","display_name":"Robot","score":0.7487489581108093},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7324877381324768},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.6715580821037292},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6612156629562378},{"id":"https://openalex.org/keywords/asymptotically-optimal-algorithm","display_name":"Asymptotically optimal algorithm","score":0.5935308337211609},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5665110945701599},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.5648555159568787},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5122110247612},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.48487672209739685},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4802265763282776},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27741944789886475},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27648961544036865}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7487489581108093},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7324877381324768},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.6715580821037292},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6612156629562378},{"id":"https://openalex.org/C181789720","wikidata":"https://www.wikidata.org/wiki/Q4812191","display_name":"Asymptotically optimal algorithm","level":2,"score":0.5935308337211609},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5665110945701599},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.5648555159568787},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5122110247612},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.48487672209739685},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4802265763282776},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27741944789886475},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27648961544036865},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/mrs.2017.8250940","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mrs.2017.8250940","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1706.09932","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1706.09932","pdf_url":"https://arxiv.org/pdf/1706.09932","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":"mag:2729017031","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1706.09932","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:alma.01RUT_INST:11665250960004646","is_oa":false,"landing_page_url":"https://scholarship.libraries.rutgers.edu/esploro/outputs/conferenceProceeding/Scalable-asymptotically-optimal-multi-robot-motion-planning/991031666202504646","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Proceedings"},{"id":"doi:10.48550/arxiv.1706.09932","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1706.09932","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1706.09932","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1706.09932","pdf_url":"https://arxiv.org/pdf/1706.09932","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7900000214576721}],"awards":[{"id":"https://openalex.org/G153099227","display_name":null,"funder_award_id":"CCF 1330789","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G2192095584","display_name":"EAGER: Provably Efficient Motion Planning After Finite Computation Time","funder_award_id":"1451737","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4628066949","display_name":"BSF:2012166:A Framework for Composite Techniques in Motion Planning","funder_award_id":"1330789","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2729017031.pdf","grobid_xml":"https://content.openalex.org/works/W2729017031.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W125001008","https://openalex.org/W1501654049","https://openalex.org/W1587371456","https://openalex.org/W1864112212","https://openalex.org/W1926863402","https://openalex.org/W1971086298","https://openalex.org/W1991482882","https://openalex.org/W2000359213","https://openalex.org/W2004100691","https://openalex.org/W2022020194","https://openalex.org/W2045403423","https://openalex.org/W2108232656","https://openalex.org/W2115904688","https://openalex.org/W2123030512","https://openalex.org/W2128990851","https://openalex.org/W2136323427","https://openalex.org/W2153690053","https://openalex.org/W2164892108","https://openalex.org/W2214383483","https://openalex.org/W2278842421","https://openalex.org/W2737066350","https://openalex.org/W2900376083","https://openalex.org/W2962805470","https://openalex.org/W2987233852","https://openalex.org/W3139860299","https://openalex.org/W6640227988","https://openalex.org/W6741425132"],"related_works":["https://openalex.org/W2963889167","https://openalex.org/W3106159194","https://openalex.org/W2783983468","https://openalex.org/W2113832842","https://openalex.org/W2738075826","https://openalex.org/W784387389","https://openalex.org/W3011621410","https://openalex.org/W2982309288","https://openalex.org/W3129611905","https://openalex.org/W1985818490","https://openalex.org/W2745909998","https://openalex.org/W3192941785","https://openalex.org/W2041916443","https://openalex.org/W1969907553","https://openalex.org/W3194399229","https://openalex.org/W2093331250","https://openalex.org/W284417742","https://openalex.org/W2123030512","https://openalex.org/W2166947678","https://openalex.org/W3093546165"],"abstract_inverted_index":{"Discovering":[0],"high-quality":[1,142],"paths":[2,124,143],"for":[3,70,99,120,132,166],"multirobot":[4],"problems":[5,73],"can":[6,156],"be":[7,158],"achieved,":[8],"in":[9,55,111,125],"principle,":[10],"by":[11],"exploring":[12],"the":[13,49,56,94,105,112,118,133],"composite":[14,57,113],"space":[15,58],"of":[16,36,52,59,87,96,108,149],"all":[17,60],"robots.":[18],"For":[19],"instance,":[20],"sampling-based":[21,68],"algorithms":[22],"that":[23,74],"build":[24],"either":[25],"roadmaps":[26,98],"or":[27],"tree":[28],"data":[29],"structures":[30,54,110],"achieve":[31],"asymptotic":[32],"optimality.":[33],"The":[34,79,115],"hardness":[35],"motion":[37],"planning,":[38],"however,":[39],"which":[40,92,128],"implies":[41],"an":[42,83],"exponential":[43],"dependence":[44],"on":[45,160],"problem":[46],"dimensionality,":[47],"renders":[48],"explicit":[50],"construction":[51],"such":[53,163],"robots":[61,150],"impractical.":[62],"This":[63],"work":[64],"proposes":[65],"a":[66,88],"scalable,":[67],"planner":[69],"coupled":[71],"multi-robot":[72,126],"provides":[75],"desirable":[76],"path-quality":[77],"guarantees.":[78],"proposed":[80],"dRRT*":[81,139],"is":[82,129],"informed,":[84],"asymptotically-optimal":[85],"extension":[86],"prior":[89,134],"method":[90],"dRRT,":[91],"introduced":[93],"idea":[95],"building":[97],"each":[100],"robot":[101,167],"and":[102,144],"implicitly":[103],"searching":[104],"tensor":[106],"product":[107],"these":[109],"space.":[114],"paper":[116],"describes":[117],"conditions":[119],"convergence":[121],"to":[122,141,146],"optimal":[123],"problems,":[127],"not":[130],"feasible":[131],"method.":[135],"Moreover,":[136],"simulations":[137],"indicate":[138],"converges":[140],"scales":[145],"higher":[147],"numbers":[148],"where":[151],"various":[152],"alternatives":[153],"fail.":[154],"It":[155],"also":[157],"used":[159],"high-dimensional":[161],"challenges,":[162],"as":[164],"planning":[165],"manipulators.":[168]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
