{"id":"https://openalex.org/W2112765698","doi":"https://doi.org/10.1109/robot.2008.4543636","title":"Balancing exploration and exploitation in motion planning","display_name":"Balancing exploration and exploitation in motion planning","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2112765698","doi":"https://doi.org/10.1109/robot.2008.4543636","mag":"2112765698"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543636","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543636","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","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/A5003833130","display_name":"Markus Rickert","orcid":"https://orcid.org/0000-0001-6264-0888"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Rickert","raw_affiliation_strings":["Robotics and Embedded Systems Lab, Department of Computer Science, Technische Universitat Munchen, Germany","Dept. of Comput. Sci., Tech. Univ. Munchen, Munich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Embedded Systems Lab, Department of Computer Science, Technische Universitat Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Tech. Univ. Munchen, Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039143538","display_name":"Oliver Brock","orcid":"https://orcid.org/0000-0002-3719-7754"},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Oliver Brock","raw_affiliation_strings":["Robotics and Biology Laboratory, Department of Computer Science, University of Massachusetts, Amherst, USA","Robotics and Embedded Systems Lab, Department of Computer Science, Technische Universitat Munchen, Germany","[Robotics and Biology Laboratory, Department of Computer Science, University of Massachusetts, Amherst, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Biology Laboratory, Department of Computer Science, University of Massachusetts, Amherst, USA","institution_ids":["https://openalex.org/I24603500"]},{"raw_affiliation_string":"Robotics and Embedded Systems Lab, Department of Computer Science, Technische Universitat Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"[Robotics and Biology Laboratory, Department of Computer Science, University of Massachusetts, Amherst, USA]","institution_ids":["https://openalex.org/I24603500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Robotics and Embedded Systems Lab, Department of Computer Science, Technische Universitat Munchen, Germany","Robotics and Embedded Systems Lab, Department of Computer Science, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Embedded Systems Lab, Department of Computer Science, Technische Universitat Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Robotics and Embedded Systems Lab, Department of Computer Science, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.68,"has_fulltext":false,"cited_by_count":81,"citation_normalized_percentile":{"value":0.96222451,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2812","last_page":"2817"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"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/workspace","display_name":"Workspace","score":0.8889956474304199},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.8379354476928711},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6769500970840454},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6576955914497375},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.55023592710495},{"id":"https://openalex.org/keywords/space-exploration","display_name":"Space exploration","score":0.4825679361820221},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4567268490791321},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4555342197418213},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.43842992186546326},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38055771589279175},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3270391821861267},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.323283314704895},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30812519788742065},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1546175479888916},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12289673089981079}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8889956474304199},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8379354476928711},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6769500970840454},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6576955914497375},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.55023592710495},{"id":"https://openalex.org/C104060986","wikidata":"https://www.wikidata.org/wiki/Q180046","display_name":"Space exploration","level":2,"score":0.4825679361820221},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4567268490791321},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4555342197418213},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.43842992186546326},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38055771589279175},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3270391821861267},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.323283314704895},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30812519788742065},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1546175479888916},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12289673089981079},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/robot.2008.4543636","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543636","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.115.6699","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.115.6699","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-robotics.cs.umass.edu/~oli/publications/src/rickert-08.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.128.7208","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.128.7208","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-robotics.cs.umass.edu/~oli/publications/src/2008-icra-eet.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.715.1208","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.715.1208","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/2008-icra%2CPasadena%2CCA%2CRickert.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320329755","display_name":"Jiangsu Association for Science and Technology","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W18339673","https://openalex.org/W65193931","https://openalex.org/W131069610","https://openalex.org/W177468924","https://openalex.org/W181534116","https://openalex.org/W255922872","https://openalex.org/W1424654272","https://openalex.org/W1495392417","https://openalex.org/W1903715478","https://openalex.org/W2016828152","https://openalex.org/W2018740177","https://openalex.org/W2027693953","https://openalex.org/W2042106485","https://openalex.org/W2101043416","https://openalex.org/W2101902009","https://openalex.org/W2102128251","https://openalex.org/W2103120971","https://openalex.org/W2103524001","https://openalex.org/W2107535513","https://openalex.org/W2109212155","https://openalex.org/W2118356379","https://openalex.org/W2121863487","https://openalex.org/W2128990851","https://openalex.org/W2141279501","https://openalex.org/W2141664020","https://openalex.org/W2144067986","https://openalex.org/W2147213215","https://openalex.org/W2147798571","https://openalex.org/W2154038478","https://openalex.org/W2155441094","https://openalex.org/W2159722616","https://openalex.org/W2161473822","https://openalex.org/W2611243847","https://openalex.org/W3115270213","https://openalex.org/W4214717370","https://openalex.org/W6602690695","https://openalex.org/W6607425462","https://openalex.org/W6629573421"],"related_works":["https://openalex.org/W2005695917","https://openalex.org/W4324107263","https://openalex.org/W2333571655","https://openalex.org/W985713740","https://openalex.org/W2104320275","https://openalex.org/W3004930912","https://openalex.org/W2111158727","https://openalex.org/W1510039162","https://openalex.org/W30332934","https://openalex.org/W2120794627"],"abstract_inverted_index":{"Computationally":[0],"efficient":[1],"motion":[2],"planning":[3,35],"must":[4],"avoid":[5],"exhaustive":[6],"exploration":[7,23,61,103],"of":[8,33,102],"configuration":[9,30,78],"space.":[10,79],"We":[11,51,94],"argue":[12],"that":[13,58,99],"this":[14,73],"can":[15],"be":[16],"accomplished":[17],"most":[18],"effectively":[19],"by":[20,49],"carefully":[21],"balancing":[22,101],"and":[24,62,70,104],"exploitation.":[25],"Exploration":[26],"seeks":[27],"to":[28,40,107,112],"understand":[29],"space,":[31],"irrespective":[32],"the":[34,42,45,86],"problem,":[36],"while":[37],"exploitation":[38,63,76,81,105],"acts":[39],"solve":[41],"problem":[43],"given":[44],"available":[46],"information":[47,69,74],"obtained":[48],"exploration.":[50,93],"present":[52,95],"an":[53],"exploring/exploiting":[54],"tree":[55],"(EET)":[56],"planner":[57,66,87],"balances":[59],"its":[60,90],"behavior.":[64],"The":[65],"acquires":[67],"workspace":[68],"subsequently":[71],"uses":[72],"for":[75],"in":[77,83],"If":[80],"fails":[82],"difficult":[84],"regions,":[85],"gradually":[88],"shifts":[89],"behavior":[91],"towards":[92],"experimental":[96],"results":[97],"demonstrating":[98],"adaptive":[100],"leads":[106],"significant":[108],"performance":[109],"improvements":[110],"compared":[111],"other":[113],"state-of-the-art":[114],"sampling-based":[115],"planners.":[116]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":6}],"updated_date":"2026-06-17T08:01:34.144755","created_date":"2025-10-10T00:00:00"}