{"id":"https://openalex.org/W1988994102","doi":"https://doi.org/10.1109/tro.2011.2166435","title":"Robot Motion Planning in Dynamic, Uncertain Environments","display_name":"Robot Motion Planning in Dynamic, Uncertain Environments","publication_year":2011,"publication_date":"2011-09-28","ids":{"openalex":"https://openalex.org/W1988994102","doi":"https://doi.org/10.1109/tro.2011.2166435","mag":"1988994102"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2011.2166435","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2166435","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/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":true,"raw_author_name":"Noel E. Du Toit","raw_affiliation_strings":["Department of Mechanical Engineering, California Institute of Technology, Pasadena, CA, USA","Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA#TAB#","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":"J. W. Burdick","raw_affiliation_strings":["Department of Mechanical Engineering, California Institute of Technology, Pasadena, CA, USA","Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA#TAB#","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5068658844"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":8.6254,"has_fulltext":false,"cited_by_count":274,"citation_normalized_percentile":{"value":0.98227243,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"28","issue":"1","first_page":"101","last_page":"115"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9965999722480774,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.991599977016449,"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/robot","display_name":"Robot","score":0.7019964456558228},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6076092720031738},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5769740343093872},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5120987892150879},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.505889356136322},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.48925113677978516},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4460257589817047},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42462635040283203},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3994585871696472},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3036150634288788},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2911086082458496},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09756192564964294},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0939922034740448}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7019964456558228},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6076092720031738},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5769740343093872},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5120987892150879},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.505889356136322},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.48925113677978516},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4460257589817047},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42462635040283203},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3994585871696472},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3036150634288788},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2911086082458496},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09756192564964294},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0939922034740448},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2011.2166435","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2166435","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:authors.library.caltech.edu:29771","is_oa":false,"landing_page_url":"https://resolver.caltech.edu/CaltechAUTHORS:20120319-130139676","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":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7400000095367432,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"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/W1756618330","https://openalex.org/W1963649406","https://openalex.org/W1978956894","https://openalex.org/W1979743043","https://openalex.org/W1999839266","https://openalex.org/W2002440441","https://openalex.org/W2003514920","https://openalex.org/W2016211524","https://openalex.org/W2030131362","https://openalex.org/W2030558783","https://openalex.org/W2032681112","https://openalex.org/W2034469604","https://openalex.org/W2045659398","https://openalex.org/W2053833381","https://openalex.org/W2088604406","https://openalex.org/W2098432798","https://openalex.org/W2101576232","https://openalex.org/W2116547086","https://openalex.org/W2117211893","https://openalex.org/W2120794627","https://openalex.org/W2122180475","https://openalex.org/W2122439876","https://openalex.org/W2129598224","https://openalex.org/W2142274811","https://openalex.org/W2142943472","https://openalex.org/W2144821713","https://openalex.org/W2145042013","https://openalex.org/W2146001329","https://openalex.org/W2148983268","https://openalex.org/W2150765347","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/W2478708596","https://openalex.org/W2611243847","https://openalex.org/W4388475847","https://openalex.org/W6637784466","https://openalex.org/W6657824506","https://openalex.org/W6661562334","https://openalex.org/W6680637258"],"related_works":["https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W8302103","https://openalex.org/W2111158727","https://openalex.org/W2024668666","https://openalex.org/W3171631314","https://openalex.org/W2606825221","https://openalex.org/W4288076938","https://openalex.org/W2967743314","https://openalex.org/W2064245428"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,76],"strategy":[4],"for":[5,44,93],"planning":[6,56,89],"robot":[7,17,104],"motions":[8],"in":[9,19,54,109],"dynamic,":[10],"uncertain":[11,100],"environments":[12,21],"(DUEs).":[13],"Successful":[14],"and":[15,28,37,88,105,112,142],"efficient":[16],"operation":[18],"such":[20],"requires":[22],"reasoning":[23],"about":[24],"the":[25,31,34,49,55,63,99,103,116,119],"future":[26,45],"evolution":[27],"uncertainties":[29],"of":[30,33,51,102,118],"states":[32],"moving":[35],"agents":[36,134],"obstacles.":[38,106],"A":[39],"novel":[40],"procedure":[41],"to":[42,129],"account":[43],"information":[46,144],"gathering":[47],"(and":[48],"quality":[50],"that":[52,68,96],"information)":[53],"process":[57],"is":[58,69,126],"presented.":[59],"To":[60],"approximately":[61],"solve":[62],"stochastic":[64],"dynamic":[65,113],"programming":[66],"problem":[67],"associated":[70],"with":[71,135],"DUE":[72],"planning,":[73],"we":[74],"present":[75],"partially":[77],"closed-loop":[78],"receding":[79],"horizon":[80],"control":[81],"algorithm":[82,120],"whose":[83],"solution":[84],"integrates":[85],"prediction,":[86],"estimation,":[87],"while":[90],"also":[91,127],"accounting":[92],"chance":[94],"constraints":[95],"arise":[97],"from":[98],"locations":[101],"Simulation":[107],"results":[108],"simple":[110],"static":[111],"scenarios":[114],"illustrate":[115],"benefit":[117],"over":[121],"classical":[122],"approaches.":[123],"The":[124],"approach":[125],"applied":[128],"more":[130],"complicated":[131],"scenarios,":[132],"including":[133],"complex,":[136],"multimodal":[137],"behaviors,":[138],"basic":[139],"robot-agent":[140],"interaction,":[141],"agent":[143],"gathering.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":38},{"year":2020,"cited_by_count":26},{"year":2019,"cited_by_count":20},{"year":2018,"cited_by_count":22},{"year":2017,"cited_by_count":25},{"year":2016,"cited_by_count":21},{"year":2015,"cited_by_count":27},{"year":2014,"cited_by_count":17},{"year":2013,"cited_by_count":11},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}