{"id":"https://openalex.org/W2111777683","doi":"https://doi.org/10.1109/robot.2008.4543786","title":"Impact of workspace decompositions on discrete search leading continuous exploration (DSLX) motion planning","display_name":"Impact of workspace decompositions on discrete search leading continuous exploration (DSLX) motion planning","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2111777683","doi":"https://doi.org/10.1109/robot.2008.4543786","mag":"2111777683"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543786","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543786","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":"conference-paper","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/A5017823298","display_name":"Erion Plaku","orcid":"https://orcid.org/0000-0001-5605-4575"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Plaku","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, USA","Department of Computer Science Rice University Houston, TX"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"Department of Computer Science Rice University Houston, TX","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067205988","display_name":"Lydia E. Kavraki","orcid":"https://orcid.org/0000-0003-0699-8038"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"L.E. Kavraki","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, USA","Department of Computer Science Rice University Houston, TX"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"Department of Computer Science Rice University Houston, TX","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000059818","display_name":"Moshe Y. Vardi","orcid":"https://orcid.org/0000-0002-0661-5773"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M.Y. Vardi","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, USA","Department of Computer Science Rice University Houston, TX"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"Department of Computer Science Rice University Houston, TX","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74775410"],"apc_list":null,"apc_paid":null,"fwci":2.8735,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.92738101,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3751","last_page":"3756"},"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":0.9980000257492065,"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":0.9937999844551086,"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/workspace","display_name":"Workspace","score":0.9073413610458374},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6393728256225586},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5742861032485962},{"id":"https://openalex.org/keywords/granularity","display_name":"Granularity","score":0.5726471543312073},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5251345634460449},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.47594571113586426},{"id":"https://openalex.org/keywords/delaunay-triangulation","display_name":"Delaunay triangulation","score":0.44894149899482727},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4461124539375305},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.39773738384246826},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34029442071914673},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3263840079307556},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21465736627578735},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18907806277275085},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09351503849029541}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9073413610458374},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6393728256225586},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5742861032485962},{"id":"https://openalex.org/C177774035","wikidata":"https://www.wikidata.org/wiki/Q1246948","display_name":"Granularity","level":2,"score":0.5726471543312073},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5251345634460449},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.47594571113586426},{"id":"https://openalex.org/C68010082","wikidata":"https://www.wikidata.org/wiki/Q192445","display_name":"Delaunay triangulation","level":2,"score":0.44894149899482727},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4461124539375305},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39773738384246826},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34029442071914673},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3263840079307556},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21465736627578735},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18907806277275085},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09351503849029541},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2008.4543786","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543786","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:10.1.1.128.2929","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.128.2929","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.rice.edu/~vardi/papers/icra08.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W18339673","https://openalex.org/W22661957","https://openalex.org/W101508493","https://openalex.org/W177468924","https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1532788009","https://openalex.org/W1602850305","https://openalex.org/W1763528081","https://openalex.org/W1997071543","https://openalex.org/W2000359213","https://openalex.org/W2021118704","https://openalex.org/W2036016432","https://openalex.org/W2101829756","https://openalex.org/W2122579773","https://openalex.org/W2128990851","https://openalex.org/W2135301926","https://openalex.org/W2144067986","https://openalex.org/W2155441094","https://openalex.org/W2611243847","https://openalex.org/W4242811155","https://openalex.org/W6600878722","https://openalex.org/W6631880011","https://openalex.org/W6675262898"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W75090202","https://openalex.org/W4245235810"],"abstract_inverted_index":{"We":[0],"have":[1],"recently":[2],"proposed":[3],"DSLX,":[4],"a":[5,28,130],"motion":[6],"planner":[7],"that":[8,71,107,134],"significantly":[9],"reduces":[10],"the":[11,40,43,47,51,72,75,86,95,125],"computational":[12,48,80,109],"time":[13],"for":[14,58],"solving":[15],"challenging":[16,169],"kinodynamic":[17,173],"problems":[18],"by":[19,118],"interleaving":[20],"continuous":[21,140],"state-space":[22,141],"exploration":[23,142],"with":[24,115],"discrete":[25,144],"search":[26],"on":[27,46,153,156],"workspace":[29,44,76,132],"decomposition.":[30],"An":[31],"important":[32,57],"but":[33],"inadequately":[34],"understood":[35],"aspect":[36],"of":[37,42,50,61,74,98,127,148,164],"DSLX":[38,62,82,128,157],"is":[39,56,83,88],"role":[41,55],"decomposition":[45,77,87,133],"efficiency":[49,110],"planner.":[52],"Understanding":[53],"this":[54,149],"successful":[59],"applications":[60],"to":[63,167],"increasingly":[64],"complex":[65],"robotic":[66],"systems.":[67],"This":[68,104],"work":[69,105,150],"shows":[70],"granularity":[73,99],"directly":[78],"impacts":[79],"efficiency:":[81],"faster":[84],"when":[85],"neither":[89],"too":[90,92],"fine-nor":[91],"coarse-grained.":[93],"Finding":[94],"right":[96],"level":[97],"can":[100,111],"require":[101],"extensive":[102,154],"fine-tuning.":[103],"demonstrates":[106],"significant":[108],"instead":[112],"be":[113],"obtained":[114],"no":[116],"fine-tuning":[117],"using":[119,158],"conforming":[120],"Delaunay":[121],"triangulations,":[122],"which":[123],"in":[124],"context":[126],"provide":[129],"natural":[131],"allows":[135],"an":[136],"efficient":[137],"interplay":[138],"between":[139],"and":[143,161,171],"search.":[145],"The":[146],"results":[147],"are":[151],"based":[152],"experiments":[155],"grid,":[159],"trapezoidal,":[160],"triangular":[162],"decompositions":[163],"various":[165],"granularities":[166],"solve":[168],"first":[170],"second-order":[172],"motion-planning":[174],"problems.":[175]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}