{"id":"https://openalex.org/W2023525850","doi":"https://doi.org/10.1109/robot.2010.5509470","title":"High-dimensional planning on the GPU","display_name":"High-dimensional planning on the GPU","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2023525850","doi":"https://doi.org/10.1109/robot.2010.5509470","mag":"2023525850"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509470","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/A5009147264","display_name":"Joseph T. Kider","orcid":"https://orcid.org/0000-0002-4818-115X"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph T Kider","raw_affiliation_strings":["University of Pennsylvania, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, USA","institution_ids":["https://openalex.org/I36788626"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014315328","display_name":"Mark Henderson","orcid":"https://orcid.org/0000-0003-2952-0942"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Henderson","raw_affiliation_strings":["University of Pennsylvania, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, USA","institution_ids":["https://openalex.org/I36788626"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103257510","display_name":"Maxim Likhachev","orcid":"https://orcid.org/0000-0002-9539-2398"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maxim Likhachev","raw_affiliation_strings":["University of Pennsylvania, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, USA","institution_ids":["https://openalex.org/I36788626"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064311523","display_name":"Alla Safonova","orcid":"https://orcid.org/0000-0003-0396-2953"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alla Safonova","raw_affiliation_strings":["University of Pennsylvania, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, USA","institution_ids":["https://openalex.org/I36788626"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I36788626"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2515","last_page":"2522"},"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":0.9954000115394592,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9879999756813049,"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/motion-planning","display_name":"Motion planning","score":0.8700764179229736},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7614290118217468},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7124735116958618},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.6672815084457397},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5683072805404663},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5655844211578369},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5363809466362},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4303865134716034},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42764437198638916},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.41359373927116394},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3467564284801483},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3277004659175873},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.3244393765926361},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30486220121383667},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15606757998466492}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8700764179229736},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7614290118217468},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7124735116958618},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.6672815084457397},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5683072805404663},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5655844211578369},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5363809466362},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4303865134716034},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42764437198638916},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.41359373927116394},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3467564284801483},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3277004659175873},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.3244393765926361},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30486220121383667},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15606757998466492},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2010.5509470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509470","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:10.1.1.175.4719","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.175.4719","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-2.cs.cmu.edu/%7Emaxim/files/RstarGPU-NVIDIA.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.175.4768","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.175.4768","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-2.cs.cmu.edu/%7Emaxim/files/RGPU_icra10.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W64567977","https://openalex.org/W170118461","https://openalex.org/W1515226261","https://openalex.org/W1542787556","https://openalex.org/W1646038686","https://openalex.org/W1980153429","https://openalex.org/W2027247754","https://openalex.org/W2054378808","https://openalex.org/W2055952974","https://openalex.org/W2096138715","https://openalex.org/W2113029345","https://openalex.org/W2126094391","https://openalex.org/W2126557249","https://openalex.org/W2128990851","https://openalex.org/W2135998713","https://openalex.org/W2141664020","https://openalex.org/W2142624263","https://openalex.org/W2158575911","https://openalex.org/W2160645305","https://openalex.org/W2161076907","https://openalex.org/W2167051442","https://openalex.org/W2319958627","https://openalex.org/W2548511631","https://openalex.org/W2597288574","https://openalex.org/W2910846643","https://openalex.org/W2913241063","https://openalex.org/W4249614167","https://openalex.org/W6606860924","https://openalex.org/W6636945615","https://openalex.org/W6645400095","https://openalex.org/W6674065141","https://openalex.org/W6676920756","https://openalex.org/W6679002868","https://openalex.org/W6683620479","https://openalex.org/W6683811256","https://openalex.org/W6684650287","https://openalex.org/W6735310354","https://openalex.org/W6758591943","https://openalex.org/W6758772430"],"related_works":["https://openalex.org/W2107702345","https://openalex.org/W2381469031","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W2389713625","https://openalex.org/W2134348961","https://openalex.org/W4308217561","https://openalex.org/W2783065147","https://openalex.org/W2115192598"],"abstract_inverted_index":{"Optimal":[0],"heuristic":[1],"searches":[2],"such":[3,13,30],"as":[4,14,31,170,172],"A*":[5,56,73],"search":[6],"are":[7],"commonly":[8],"used":[9],"for":[10,34,40,47,74,160,164],"low-dimensional":[11],"planning":[12,28,33,64,163],"2D":[15,173],"path":[16,174],"finding.":[17,175],"These":[18,157],"algorithms":[19],"however,":[20],"typically":[21],"do":[22],"not":[23],"scale":[24],"well":[25,92,171],"to":[26,62,86,93],"high-dimensional":[27],"problems":[29,65],"motion":[32,38,45,162],"robotic":[35,42],"arms,":[36],"computing":[37],"trajectories":[39],"non-holonomic":[41],"vehicles":[43],"and":[44,152],"synthesis":[46],"humanoid":[48],"characters.":[49],"A":[50],"recently":[51],"developed":[52],"randomized":[53],"version":[54,115],"of":[55,72,116,125,150],"search,":[57,60],"called":[58,118],"R*":[59,89,102,126],"scales":[61,146],"higher-dimensional":[63],"by":[66],"trading":[67],"off":[68],"deterministic":[69],"optimality":[70],"guarantees":[71],"probabilistic":[75,129],"sub-optimality":[76],"guarantees.":[77],"In":[78,97],"this":[79],"paper,":[80],"we":[81,99,137],"show":[82,138],"that":[83,139],"in":[84,148],"addition":[85],"its":[87,128],"scalability,":[88],"lends":[90],"itself":[91],"a":[94,165],"parallel":[95],"implementation.":[96],"particular,":[98],"demonstrate":[100],"how":[101],"can":[103],"be":[104],"implemented":[105],"on":[106,131],"the":[107,110,113,122,134],"GPU.":[108],"On":[109,133],"theoretical":[111,123],"side,":[112,136],"GPU":[114],"R*,":[117],"R*GPU,":[119],"preserves":[120],"all":[121],"properties":[124],"including":[127],"bounds":[130],"sub-optimality.":[132],"experimental":[135],"R*GPU":[140],"consistently":[141],"produces":[142],"lower":[143],"cost":[144],"solutions,":[145],"better":[147],"terms":[149],"memory,":[151],"runs":[153],"faster":[154],"than":[155],"R*.":[156],"results":[158],"hold":[159],"both":[161],"6DOF":[166],"robot":[167],"arm":[168],"planar":[169]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
