{"id":"https://openalex.org/W2010125957","doi":"https://doi.org/10.1109/robot.2010.5509172","title":"On the implementation of single-query sampling-based motion planners","display_name":"On the implementation of single-query sampling-based motion planners","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2010125957","doi":"https://doi.org/10.1109/robot.2010.5509172","mag":"2010125957"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509172","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5078911730","display_name":"Ioan A. \u015eucan","orcid":null},"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":"Ioan A Sucan","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, USA","Department of Computer Science Rice University, 6100 Main St., Houston, TX, USA"],"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, 6100 Main St., Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"last","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":"Lydia E Kavraki","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, USA","Department of Computer Science Rice University, 6100 Main St., Houston, TX, USA"],"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, 6100 Main St., Houston, TX, USA","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":4.6212,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.96395019,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2005","last_page":"2011"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9984999895095825,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9976000189781189,"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":0.7992570400238037},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6785612106323242},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.6428227424621582},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6251192092895508},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.6216048002243042},{"id":"https://openalex.org/keywords/core","display_name":"Core (optical fiber)","score":0.5713499784469604},{"id":"https://openalex.org/keywords/query-optimization","display_name":"Query optimization","score":0.4749201238155365},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45093074440956116},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4244651198387146},{"id":"https://openalex.org/keywords/information-retrieval","display_name":"Information retrieval","score":0.36982572078704834},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3566356897354126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3125169277191162},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.12572142481803894},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11197355389595032}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7992570400238037},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6785612106323242},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.6428227424621582},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6251192092895508},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.6216048002243042},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.5713499784469604},{"id":"https://openalex.org/C157692150","wikidata":"https://www.wikidata.org/wiki/Q2919848","display_name":"Query optimization","level":2,"score":0.4749201238155365},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45093074440956116},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4244651198387146},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.36982572078704834},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3566356897354126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3125169277191162},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.12572142481803894},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11197355389595032},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"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/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2010.5509172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509172","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.621.9815","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.621.9815","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ioan.sucan.ro/files/pubs/implementingplanners_icra2010.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.665.3567","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.665.3567","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://kavrakilab.org/sites/default/files/implementingplanners-h.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W22661957","https://openalex.org/W101508493","https://openalex.org/W131069610","https://openalex.org/W143844323","https://openalex.org/W177468924","https://openalex.org/W282686812","https://openalex.org/W1424654272","https://openalex.org/W1502517891","https://openalex.org/W1521785144","https://openalex.org/W1531168033","https://openalex.org/W1536373029","https://openalex.org/W1595414374","https://openalex.org/W1670942551","https://openalex.org/W1971355878","https://openalex.org/W1972817254","https://openalex.org/W1984465338","https://openalex.org/W2000359213","https://openalex.org/W2018740177","https://openalex.org/W2036016432","https://openalex.org/W2043292926","https://openalex.org/W2096158814","https://openalex.org/W2101902009","https://openalex.org/W2102128251","https://openalex.org/W2106473816","https://openalex.org/W2108643443","https://openalex.org/W2111043354","https://openalex.org/W2118378232","https://openalex.org/W2119159374","https://openalex.org/W2126115129","https://openalex.org/W2128990851","https://openalex.org/W2129112982","https://openalex.org/W2134447392","https://openalex.org/W2135677376","https://openalex.org/W2141664020","https://openalex.org/W2145882751","https://openalex.org/W2147213215","https://openalex.org/W2147497140","https://openalex.org/W2149016364","https://openalex.org/W2149602461","https://openalex.org/W2150772450","https://openalex.org/W2153219011","https://openalex.org/W2156459680","https://openalex.org/W2159722616","https://openalex.org/W2167458557","https://openalex.org/W2167869989","https://openalex.org/W2171205311","https://openalex.org/W2171266831","https://openalex.org/W2546496297","https://openalex.org/W2611243847","https://openalex.org/W2950522828","https://openalex.org/W3104753760","https://openalex.org/W4242811155","https://openalex.org/W4254886163","https://openalex.org/W6600878722","https://openalex.org/W6605295560","https://openalex.org/W6605798267","https://openalex.org/W6607211346","https://openalex.org/W6610237933","https://openalex.org/W6631300751","https://openalex.org/W6631524326","https://openalex.org/W6635690801","https://openalex.org/W6637067985","https://openalex.org/W6643431914","https://openalex.org/W6676022314","https://openalex.org/W6677861068","https://openalex.org/W6684672043","https://openalex.org/W6763866038"],"related_works":["https://openalex.org/W2737044839","https://openalex.org/W2363027842","https://openalex.org/W4220868064","https://openalex.org/W2098306546","https://openalex.org/W1601704076","https://openalex.org/W2161902337","https://openalex.org/W2349046620","https://openalex.org/W4312941588","https://openalex.org/W2018608237","https://openalex.org/W1484141300"],"abstract_inverted_index":{"Single-query":[0],"sampling-based":[1,78],"motion":[2,16,79],"planners":[3,27,80],"are":[4,55,64],"an":[5],"efficient":[6],"class":[7],"of":[8,25,37,68,76,88,95],"algorithms":[9,41],"widely":[10],"used":[11],"today":[12],"to":[13,61,72,85,92],"solve":[14],"challenging":[15],"planning":[17],"problems.":[18],"This":[19],"paper":[20,70],"exposes":[21],"the":[22,44,69],"common":[23],"core":[24],"these":[26],"and":[28,81],"presents":[29],"a":[30],"tutorial":[31],"for":[32],"their":[33],"implementation.":[34],"A":[35],"set":[36],"ideas":[38],"extracted":[39],"from":[40],"existing":[42],"in":[43,58],"literature":[45],"is":[46,71],"presented.":[47],"In":[48],"addition,":[49],"lower":[50],"level":[51],"implementation":[52],"details":[53],"that":[54,90],"often":[56],"skipped":[57],"papers":[59],"due":[60],"space":[62],"limitations":[63],"discussed.":[65],"The":[66],"purpose":[67],"improve":[73],"our":[74,83],"understanding":[75],"single-query":[77],"motivate":[82],"community":[84],"explore":[86],"avenues":[87],"research":[89],"lead":[91],"significant":[93],"improvements":[94],"such":[96],"algorithms.":[97]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":4}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}