{"id":"https://openalex.org/W4206742989","doi":"https://doi.org/10.1109/tac.2021.3138704","title":"Optimal Probabilistic Motion Planning With Potential Infeasible LTL Constraints","display_name":"Optimal Probabilistic Motion Planning With Potential Infeasible LTL Constraints","publication_year":2021,"publication_date":"2021-12-28","ids":{"openalex":"https://openalex.org/W4206742989","doi":"https://doi.org/10.1109/tac.2021.3138704"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2021.3138704","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2021.3138704","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-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/A5001420415","display_name":"Mingyu Cai","orcid":"https://orcid.org/0000-0002-2967-2703"},"institutions":[{"id":"https://openalex.org/I126307644","display_name":"University of Iowa","ror":"https://ror.org/036jqmy94","country_code":"US","type":"education","lineage":["https://openalex.org/I126307644"]},{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mingyu Cai","raw_affiliation_strings":["Department of Mechanical Engineering, Lehigh University, Bethlehem, PA, USA","Department of Mechanical Engineering, University of Iowa Technology Institute, The University of Iowa, Iowa City, IA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Lehigh University, Bethlehem, PA, USA","institution_ids":["https://openalex.org/I186143895"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Iowa Technology Institute, The University of Iowa, Iowa City, IA, USA","institution_ids":["https://openalex.org/I126307644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025292957","display_name":"Shaoping Xiao","orcid":"https://orcid.org/0000-0001-9658-7149"},"institutions":[{"id":"https://openalex.org/I126307644","display_name":"University of Iowa","ror":"https://ror.org/036jqmy94","country_code":"US","type":"education","lineage":["https://openalex.org/I126307644"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shaoping Xiao","raw_affiliation_strings":["Department of Mechanical Engineering, University of Iowa Technology Institute, The University of Iowa, Iowa City, IA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Iowa Technology Institute, The University of Iowa, Iowa City, IA, USA","institution_ids":["https://openalex.org/I126307644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450024","display_name":"Zhijun Li","orcid":"https://orcid.org/0000-0002-3909-488X"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Li","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018344952","display_name":"Zhen Kan","orcid":"https://orcid.org/0000-0003-2069-9544"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Kan","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5001420415"],"corresponding_institution_ids":["https://openalex.org/I126307644","https://openalex.org/I186143895"],"apc_list":null,"apc_paid":null,"fwci":3.6819,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.94601647,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"68","issue":"1","first_page":"301","last_page":"316"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/probabilistic-logic","display_name":"Probabilistic logic","score":0.6956332921981812},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6034736633300781},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5596670508384705},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4681413769721985},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4258444607257843},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2526666522026062},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20027342438697815},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09312117099761963}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6956332921981812},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6034736633300781},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5596670508384705},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4681413769721985},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4258444607257843},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2526666522026062},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20027342438697815},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09312117099761963}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2021.3138704","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2021.3138704","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6700000166893005}],"awards":[{"id":"https://openalex.org/G1051832680","display_name":null,"funder_award_id":"62173314","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3515097778","display_name":null,"funder_award_id":"61625303","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6104967667","display_name":null,"funder_award_id":"U2013601","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W16586245","https://openalex.org/W1494502909","https://openalex.org/W1498432697","https://openalex.org/W1584965098","https://openalex.org/W1862398452","https://openalex.org/W1972203711","https://openalex.org/W2010802721","https://openalex.org/W2052695231","https://openalex.org/W2059470663","https://openalex.org/W2061372038","https://openalex.org/W2077578897","https://openalex.org/W2078151802","https://openalex.org/W2103728338","https://openalex.org/W2115980619","https://openalex.org/W2117927826","https://openalex.org/W2124339220","https://openalex.org/W2128480458","https://openalex.org/W2149920287","https://openalex.org/W2150335178","https://openalex.org/W2155327357","https://openalex.org/W2165161585","https://openalex.org/W2381901500","https://openalex.org/W2487186542","https://openalex.org/W2599078145","https://openalex.org/W2624912704","https://openalex.org/W2737479107","https://openalex.org/W2892537867","https://openalex.org/W2911738095","https://openalex.org/W2914702425","https://openalex.org/W2944522148","https://openalex.org/W2951796861","https://openalex.org/W2963117388","https://openalex.org/W3011250830","https://openalex.org/W3020399144","https://openalex.org/W3039276491","https://openalex.org/W3045306771","https://openalex.org/W3090827750","https://openalex.org/W3097945779","https://openalex.org/W3098613855","https://openalex.org/W3126786011","https://openalex.org/W3130777366","https://openalex.org/W3161433433","https://openalex.org/W3186243269","https://openalex.org/W3198607174","https://openalex.org/W3205585911","https://openalex.org/W3206858608","https://openalex.org/W4295332768","https://openalex.org/W4298023569","https://openalex.org/W4301216918","https://openalex.org/W6682124619","https://openalex.org/W6755007425","https://openalex.org/W6789953635","https://openalex.org/W6800661141","https://openalex.org/W6802503602"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"This":[0,200],"paper":[1],"studies":[2],"optimal":[3,216],"motion":[4,8,142],"planning":[5,208],"subject":[6],"to":[7,28,89,139,166,178,237],"and":[9,66,75,99,121,130,151,182,215,223],"environment":[10],"uncertainties.":[11],"By":[12],"modeling":[13],"the":[14,24,35,53,57,67,71,77,112,137,145,153,169,174,183,187,204,227,230,239,242],"system":[15],"as":[16,42],"a":[17,30,95,100,123],"probabilistic":[18,207],"labeled":[19],"Markov":[20],"decision":[21],"process":[22],"(PL-MDP),":[23],"control":[25,217],"objective":[26,160],"is":[27,64,82,147,163],"synthesize":[29],"finite-memory":[31],"policy,":[32],"under":[33],"which":[34],"agent":[36,138],"satisfies":[37,60],"complex":[38],"high-level":[39],"tasks":[40,63],"expressed":[41],"linear":[43,198],"temporal":[44],"logic":[45],"(LTL)":[46],"with":[47,94,176],"desired":[48],"satisfaction":[49,81],"probability.":[50],"In":[51],"particular,":[52],"cost":[54,74,185],"optimization":[55,161],"of":[56,79,106,171,186,210,219,226,241],"trajectory":[58,228],"that":[59],"infinite":[61,231],"horizon":[62],"considered,":[65],"trade-off":[68],"between":[69,127,206],"reducing":[70],"expected":[72],"mean":[73],"maximizing":[76],"probability":[78,170],"task":[80,146,172,180],"analyzed.":[83],"The":[84,104,132,190],"LTL":[85,115,213],"formulas":[86],"are":[87,235],"converted":[88],"limit-deterministic":[90],"B\u00fcchi":[91],"automata":[92],"(LDBA)":[93],"reachability":[96],"acceptance":[97],"condition":[98],"compact":[101],"graph":[102],"structure.":[103],"novelty":[105],"this":[107],"work":[108,201],"lies":[109],"in":[110],"considering":[111],"cases":[113],"where":[114],"specifications":[116,214],"can":[117,193],"be":[118,194],"potentially":[119],"infeasible":[120,212],"developing":[122],"relaxed":[124,133],"product":[125,134],"MDP":[126,129,135],"PL-":[128],"LDBA.":[131],"allows":[136],"revise":[140],"its":[141],"plan":[143,221,224],"whenever":[144],"not":[148],"fully":[149],"feasible":[150],"quantify":[152],"revised":[154],"plan\u2019s":[155],"violation":[156,175],"measurement.":[157],"A":[158],"multi-":[159],"problem":[162,192],"then":[164],"formulated":[165,191],"jointly":[167],"consider":[168],"satisfaction,":[173],"respect":[177],"original":[179],"constraints,":[181],"implementation":[184],"policy":[188],"execution.":[189],"solved":[195],"via":[196],"coupled":[197],"programs.":[199],"first":[202],"bridges":[203],"gap":[205],"revision":[209],"potential":[211],"synthesis":[218],"both":[220],"prefix":[222],"suffix":[225],"over":[229],"horizons.":[232],"Experimental":[233],"results":[234],"provided":[236],"demonstrate":[238],"effectiveness":[240],"proposed":[243],"framework.":[244]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}