{"id":"https://openalex.org/W2140005431","doi":"https://doi.org/10.1109/robot.2006.1641880","title":"A slicing connection strategy for constructing PRMs in high-dimensional cspaces","display_name":"A slicing connection strategy for constructing PRMs in high-dimensional cspaces","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2140005431","doi":"https://doi.org/10.1109/robot.2006.1641880","mag":"2140005431"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641880","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641880","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5023106181","display_name":"Pekka Isto","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P. Isto","raw_affiliation_strings":["University of Stanford, Stanford, CA, USA","Stanford, Univ., CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford, Univ., CA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071315518","display_name":"Mitul Saha","orcid":"https://orcid.org/0000-0002-6338-5070"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Saha","raw_affiliation_strings":["University of Stanford, Stanford, CA, USA","Stanford, Univ., CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford, Univ., CA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5777,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.84591688,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1249","last_page":"1254"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9929999709129333,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9775999784469604,"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/slicing","display_name":"Slicing","score":0.7366722822189331},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.689923107624054},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6516374349594116},{"id":"https://openalex.org/keywords/connection","display_name":"Connection (principal bundle)","score":0.6502323746681213},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5545608997344971},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.549355685710907},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.5413986444473267},{"id":"https://openalex.org/keywords/subdivision","display_name":"Subdivision","score":0.5087390542030334},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5061632990837097},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4730992317199707},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.42938917875289917},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3310354948043823},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31683582067489624},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15377771854400635},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14059194922447205},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.07807338237762451}],"concepts":[{"id":"https://openalex.org/C2776190703","wikidata":"https://www.wikidata.org/wiki/Q488148","display_name":"Slicing","level":2,"score":0.7366722822189331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.689923107624054},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6516374349594116},{"id":"https://openalex.org/C13355873","wikidata":"https://www.wikidata.org/wiki/Q2920850","display_name":"Connection (principal bundle)","level":2,"score":0.6502323746681213},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5545608997344971},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.549355685710907},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.5413986444473267},{"id":"https://openalex.org/C143392562","wikidata":"https://www.wikidata.org/wiki/Q449111","display_name":"Subdivision","level":2,"score":0.5087390542030334},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5061632990837097},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4730992317199707},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.42938917875289917},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3310354948043823},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31683582067489624},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15377771854400635},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14059194922447205},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.07807338237762451},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1641880","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641880","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7300000190734863}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321968","display_name":"Ella ja Georg Ehrnroothin S\u00e4\u00e4ti\u00f6","ror":"https://ror.org/04kk6qr76"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1501955484","https://openalex.org/W1521785144","https://openalex.org/W1536373029","https://openalex.org/W1562342398","https://openalex.org/W1586146481","https://openalex.org/W1623433276","https://openalex.org/W1778789447","https://openalex.org/W1844162177","https://openalex.org/W1947401476","https://openalex.org/W2004815408","https://openalex.org/W2022854905","https://openalex.org/W2058240764","https://openalex.org/W2110057603","https://openalex.org/W2115243734","https://openalex.org/W2128990851","https://openalex.org/W2132114646","https://openalex.org/W2154574107","https://openalex.org/W2167458557","https://openalex.org/W2735847404","https://openalex.org/W4230283118","https://openalex.org/W4247382745","https://openalex.org/W4300191359","https://openalex.org/W6634836779","https://openalex.org/W6637877403","https://openalex.org/W6638984643"],"related_works":["https://openalex.org/W2393746923","https://openalex.org/W2972496411","https://openalex.org/W4239223006","https://openalex.org/W2384806462","https://openalex.org/W3033662781","https://openalex.org/W2137530048","https://openalex.org/W2360869927","https://openalex.org/W4389950792","https://openalex.org/W2050876785","https://openalex.org/W2074642116"],"abstract_inverted_index":{"This":[0],"paper":[1,108],"presents":[2],"a":[3,31,96],"connection":[4,15],"strategy":[5,16,62],"for":[6],"PRM-based":[7],"motion":[8,20,113],"planning":[9,114],"in":[10,106,116],"high-dimensional":[11,119],"configuration":[12,34,38],"spaces.":[13],"The":[14,43,88],"identifies":[17],"components":[18],"of":[19,33,40,45,53,95,112],"during":[21],"the":[22,27,37,41,46,51,54,61,93,103,110],"roadmap":[23,28],"construction":[24],"and":[25,60,80,102],"plans":[26],"edges":[29],"on":[30,72],"sequence":[32],"slices":[35],"approximating":[36],"spaces":[39],"components.":[42],"goal":[44],"approach":[47,104],"is":[48,65],"to":[49,77,85],"extend":[50],"dimensionality":[52],"problems":[55,90,120],"PRM":[56,99],"planners":[57],"can":[58],"solve,":[59],"it":[63],"deploys":[64],"dimensional":[66],"subdivision.":[67],"We":[68],"report":[69],"experimental":[70],"results":[71],"serpentine":[73],"robots":[74],"with":[75,83],"up":[76,84],"150":[78],"degrees-of-freedom":[79],"multi-robot":[81],"systems":[82],"144":[86],"degrees-of-freedom.":[87],"test":[89],"are":[91],"beyond":[92],"capability":[94],"representative":[97],"state-of-the-art":[98],"based":[100],"planner,":[101],"presented":[105],"this":[107],"enables":[109],"use":[111],"methods":[115],"solving":[117],"new":[118]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}