{"id":"https://openalex.org/W2166538246","doi":"https://doi.org/10.1109/robot.2003.1242286","title":"Improving the connectivity of PRM roadmaps","display_name":"Improving the connectivity of PRM roadmaps","publication_year":2004,"publication_date":"2004-03-30","ids":{"openalex":"https://openalex.org/W2166538246","doi":"https://doi.org/10.1109/robot.2003.1242286","mag":"2166538246"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1242286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-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/A5048101285","display_name":"Marco Morales","orcid":"https://orcid.org/0000-0003-1824-2350"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"M. Morales","raw_affiliation_strings":["Parasol Lab, Department of Computer Science, Texas A and M University, USA"],"affiliations":[{"raw_affiliation_string":"Parasol Lab, Department of Computer Science, Texas A and M University, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090878992","display_name":"Samuel Rodr\u00edguez","orcid":"https://orcid.org/0000-0002-5869-3896"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Rodriguez","raw_affiliation_strings":["Parasol Lab, Department of Computer Science, Texas A and M University, USA"],"affiliations":[{"raw_affiliation_string":"Parasol Lab, Department of Computer Science, Texas A and M University, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050205557","display_name":"Nancy M. Amato","orcid":"https://orcid.org/0000-0001-5817-5290"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N.M. Amato","raw_affiliation_strings":["Parasol Lab, Department of Computer Science, Texas A and M University, USA"],"affiliations":[{"raw_affiliation_string":"Parasol Lab, Department of Computer Science, Texas A and M University, USA","institution_ids":["https://openalex.org/I91045830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5048101285"],"corresponding_institution_ids":["https://openalex.org/I91045830"],"apc_list":null,"apc_paid":null,"fwci":97.6355,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.99806059,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"3","issue":null,"first_page":"4427","last_page":"4432"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996999979019165,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996999979019165,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9840999841690063,"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/computer-science","display_name":"Computer science","score":0.804389238357544},{"id":"https://openalex.org/keywords/social-connectedness","display_name":"Social connectedness","score":0.7068394422531128},{"id":"https://openalex.org/keywords/suite","display_name":"Suite","score":0.581619381904602},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5656858682632446},{"id":"https://openalex.org/keywords/connection","display_name":"Connection (principal bundle)","score":0.5564144253730774},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.5504924058914185},{"id":"https://openalex.org/keywords/tracing","display_name":"Tracing","score":0.5156298875808716},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.4139120280742645},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2316904366016388},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08630207180976868},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08278229832649231}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.804389238357544},{"id":"https://openalex.org/C201943243","wikidata":"https://www.wikidata.org/wiki/Q7551008","display_name":"Social connectedness","level":2,"score":0.7068394422531128},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.581619381904602},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5656858682632446},{"id":"https://openalex.org/C13355873","wikidata":"https://www.wikidata.org/wiki/Q2920850","display_name":"Connection (principal bundle)","level":2,"score":0.5564144253730774},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.5504924058914185},{"id":"https://openalex.org/C138673069","wikidata":"https://www.wikidata.org/wiki/Q322229","display_name":"Tracing","level":2,"score":0.5156298875808716},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.4139120280742645},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2316904366016388},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08630207180976868},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08278229832649231},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2003.1242286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.458.378","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.458.378","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://parasol.tamu.edu/dsmft/publications/cccon-icra03.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320310164","display_name":"Texas A and M University","ror":"https://ror.org/01f5ytq51"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1487859867","https://openalex.org/W1495392417","https://openalex.org/W1644976598","https://openalex.org/W1937587174","https://openalex.org/W2107535513","https://openalex.org/W2128990851","https://openalex.org/W2134741043","https://openalex.org/W2141664020","https://openalex.org/W2145114880","https://openalex.org/W2593976925","https://openalex.org/W3115270213","https://openalex.org/W4242811155","https://openalex.org/W6629573421"],"related_works":["https://openalex.org/W3125761283","https://openalex.org/W1976722080","https://openalex.org/W2164081328","https://openalex.org/W3152831473","https://openalex.org/W3092556108","https://openalex.org/W1995672666","https://openalex.org/W4231704780","https://openalex.org/W2154176501","https://openalex.org/W2190085401","https://openalex.org/W3044931971"],"abstract_inverted_index":{"In":[0,90,116],"this":[1],"paper":[2],"we":[3],"investigate":[4],"how":[5],"the":[6,25,110,113,119,123,128,132,137],"coverage":[7],"and":[8,60,79],"connectedness":[9],"of":[10,47,54,70,82,98,112],"PRM":[11,27],"roadmaps":[12],"can":[13,38],"be":[14,39],"improved":[15],"by":[16,43,75,122],"adding":[17],"a":[18,45,61,106],"connected":[19],"component":[20],"(CC)":[21],"connection":[22,49,88,114],"step":[23],"to":[24,92,135],"general":[26],"framework.":[28],"We":[29],"provide":[30,105],"experimental":[31],"results":[32],"establishing":[33],"that":[34],"significant":[35],"roadmap":[36],"improvements":[37],"obtained":[40],"relatively":[41],"efficiently":[42],"utilizing":[44],"suite":[46],"CC":[48],"methods,":[50],"which":[51],"include":[52],"variants":[53],"existing":[55],"methods":[56,76,103],"such":[57],"as":[58,131],"RRT":[59],"new":[62],"ray":[63],"tracing":[64],"based":[65],"method.":[66],"The":[67],"coordinated":[68],"application":[69],"these":[71,102],"techniques":[72],"is":[73],"enabled":[74],"for":[77,87,100,108],"selecting":[78],"scheduling":[80],"pairs":[81],"nodes":[83],"in":[84],"different":[85],"CCs":[86],"attempts.":[89,115],"addition":[91],"identifying":[93],"important":[94],"and/or":[95],"promising":[96],"regions":[97],"C-space":[99],"exploration,":[101],"also":[104],"mechanism":[107],"controlling":[109],"cost":[111],"our":[117],"experiments,":[118],"time":[120,133],"required":[121],"improvement":[124],"phase":[125],"was":[126],"on":[127],"same":[129],"order":[130],"used":[134],"generate":[136],"initial":[138],"roadmap.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}