{"id":"https://openalex.org/W1999839266","doi":"https://doi.org/10.1109/robot.2010.5509278","title":"Robotic motion planning in dynamic, cluttered, uncertain environments","display_name":"Robotic motion planning in dynamic, cluttered, uncertain environments","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W1999839266","doi":"https://doi.org/10.1109/robot.2010.5509278","mag":"1999839266"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509278","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/A5068658844","display_name":"Noel E. Du Toit","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Noel E Du Toit","raw_affiliation_strings":["Department of Mechanical Engineering, California Institute of Technology, Pasadena, CA, USA","Dep. of Mechanical Engineering, California Institute of Technology, Pasadena, 91125, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Dep. of Mechanical Engineering, California Institute of Technology, Pasadena, 91125, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002930599","display_name":"Joel W. Burdick","orcid":"https://orcid.org/0000-0002-3091-540X"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joel W Burdick","raw_affiliation_strings":["Department of Mechanical Engineering, California Institute of Technology, Pasadena, CA, USA","Dep. of Mechanical Engineering, California Institute of Technology, Pasadena, 91125, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Dep. of Mechanical Engineering, California Institute of Technology, Pasadena, 91125, USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":93,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"966","last_page":"973"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9975000023841858,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9955999851226807,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.679440438747406},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6139639616012573},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6058652997016907},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.5568185448646545},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.55256587266922},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.497027188539505},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.4706128239631653},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46106773614883423},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.44287508726119995},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4264431297779083},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37827178835868835},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33160021901130676},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19165503978729248},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1284094750881195},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11623954772949219}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.679440438747406},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6139639616012573},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6058652997016907},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.5568185448646545},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.55256587266922},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.497027188539505},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.4706128239631653},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46106773614883423},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.44287508726119995},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4264431297779083},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37827178835868835},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33160021901130676},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19165503978729248},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1284094750881195},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11623954772949219},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2010.5509278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509278","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:authors.library.caltech.edu:96349","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/96349/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.425.4482","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.425.4482","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://thesis.library.caltech.edu/5545/2/thesis_final.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W62631087","https://openalex.org/W202738773","https://openalex.org/W1424654272","https://openalex.org/W1498000886","https://openalex.org/W1535066977","https://openalex.org/W1886594719","https://openalex.org/W1964644507","https://openalex.org/W1978053349","https://openalex.org/W2002440441","https://openalex.org/W2002540292","https://openalex.org/W2003514920","https://openalex.org/W2020218142","https://openalex.org/W2034469604","https://openalex.org/W2088604406","https://openalex.org/W2098432798","https://openalex.org/W2105289524","https://openalex.org/W2116547086","https://openalex.org/W2117211893","https://openalex.org/W2122180475","https://openalex.org/W2122439876","https://openalex.org/W2129598224","https://openalex.org/W2142274811","https://openalex.org/W2144821713","https://openalex.org/W2145042013","https://openalex.org/W2146001329","https://openalex.org/W2152724075","https://openalex.org/W2157304242","https://openalex.org/W2161508344","https://openalex.org/W2166194012","https://openalex.org/W2170345640","https://openalex.org/W2171771720","https://openalex.org/W2334897604","https://openalex.org/W2336416123","https://openalex.org/W2337770697","https://openalex.org/W2611243847","https://openalex.org/W6602563841","https://openalex.org/W6674995601","https://openalex.org/W6683137157","https://openalex.org/W6703161083"],"related_works":["https://openalex.org/W2906267174","https://openalex.org/W134501823","https://openalex.org/W2615656344","https://openalex.org/W2013239059","https://openalex.org/W2295626654","https://openalex.org/W2333245620","https://openalex.org/W4286622840","https://openalex.org/W2536121351","https://openalex.org/W2809608782","https://openalex.org/W1889576908"],"abstract_inverted_index":{"This":[0,41],"paper":[1,42],"presents":[2,43],"a":[3,44,66,74],"strategy":[4],"for":[5,49,95],"planning":[6,61,91],"robot":[7,106],"motions":[8],"in":[9,19,38,59,113],"dynamic,":[10],"cluttered,":[11],"and":[12,16,29,35,90,107,116],"uncertain":[13,102],"environments.":[14],"Successful":[15],"efficient":[17],"operation":[18],"such":[20],"environments":[21],"requires":[22],"reasoning":[23],"about":[24],"the":[25,30,39,54,60,84,101,105,120,123],"future":[26,50],"system":[27],"evolution":[28],"uncertainty":[31],"associated":[32],"with":[33],"obstacles":[34],"moving":[36,109],"agents":[37],"environment.":[40],"novel":[45],"procedure":[46],"to":[47,83],"account":[48],"information":[51],"gathering":[52],"(and":[53],"quality":[55],"of":[56,104,122],"that":[57,98],"information)":[58],"process.":[62],"After":[63],"first":[64],"presenting":[65],"formal":[67],"Dynamic":[68],"Programming":[69],"(DP)":[70],"formulation,":[71],"we":[72],"present":[73],"Partially":[75],"Closed-loop":[76],"Receding":[77],"Horizon":[78],"Control":[79],"algorithm":[80,124],"whose":[81],"approximation":[82],"DP":[85],"solution":[86],"integrates":[87],"prediction,":[88],"estimation,":[89],"while":[92],"also":[93],"accounting":[94],"chance":[96],"constraints":[97],"arise":[99],"from":[100],"location":[103],"other":[108],"agents.":[110],"Simulation":[111],"results":[112],"simple":[114],"static":[115],"dynamic":[117],"scenarios":[118],"illustrate":[119],"benefit":[121],"over":[125],"classical":[126],"approaches.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":9}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
