{"id":"https://openalex.org/W2024382047","doi":"https://doi.org/10.1109/tro.2014.2380273","title":"High-Frequency Replanning Under Uncertainty Using Parallel Sampling-Based Motion Planning","display_name":"High-Frequency Replanning Under Uncertainty Using Parallel Sampling-Based Motion Planning","publication_year":2015,"publication_date":"2015-01-29","ids":{"openalex":"https://openalex.org/W2024382047","doi":"https://doi.org/10.1109/tro.2014.2380273","mag":"2024382047","pmid":"https://pubmed.ncbi.nlm.nih.gov/26279645"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2014.2380273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2014.2380273","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4535731","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032266950","display_name":"Wen Sun","orcid":"https://orcid.org/0000-0001-7086-4910"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wen Sun","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA","Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071959206","display_name":"Sachin Patil","orcid":"https://orcid.org/0000-0002-6247-2295"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sachin Patil","raw_affiliation_strings":["University of California, Berkeley, CA 94709 USA","University of California, Berkeley, CA/USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, CA 94709 USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley, CA/USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054402635","display_name":"Ron Alterovitz","orcid":"https://orcid.org/0000-0002-4492-1384"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ron Alterovitz","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, NC 27599 USA","Dept. of Comput. Sci., Univ. of North Carolina at Chapel Hill, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, NC 27599 USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Univ. of North Carolina at Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.9593,"has_fulltext":false,"cited_by_count":86,"citation_normalized_percentile":{"value":0.96854744,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"31","issue":"1","first_page":"104","last_page":"116"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9878000020980835,"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":0.711114764213562},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.6949335932731628},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6330921649932861},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5975558161735535},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4882795810699463},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.466410756111145},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4520740509033203},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.4443919360637665},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.41302090883255005},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32602202892303467},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3205219507217407},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3122327923774719},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2277429699897766},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07567304372787476}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.711114764213562},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.6949335932731628},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6330921649932861},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5975558161735535},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4882795810699463},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.466410756111145},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4520740509033203},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.4443919360637665},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.41302090883255005},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32602202892303467},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3205219507217407},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3122327923774719},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2277429699897766},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07567304372787476},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2014.2380273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2014.2380273","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":"pmid:26279645","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26279645","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:4535731","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4535731","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Trans Robot","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:4535731","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4535731","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Trans Robot","raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1190835644","display_name":null,"funder_award_id":"R21 EB017952","funder_id":"https://openalex.org/F4320337363","funder_display_name":"National Institute of Biomedical Imaging and Bioengineering"},{"id":"https://openalex.org/G5604387048","display_name":null,"funder_award_id":"R21EB-017952","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"},{"id":"https://openalex.org/G5993872532","display_name":null,"funder_award_id":"IIS-1117127","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6681220794","display_name":null,"funder_award_id":"IIS-1149965","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":66,"referenced_works":["https://openalex.org/W45542973","https://openalex.org/W60768693","https://openalex.org/W110311002","https://openalex.org/W142679335","https://openalex.org/W1176413013","https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1529817735","https://openalex.org/W1586251222","https://openalex.org/W1756618330","https://openalex.org/W1864112212","https://openalex.org/W1886594719","https://openalex.org/W1969907553","https://openalex.org/W1970217647","https://openalex.org/W1971086298","https://openalex.org/W1976625337","https://openalex.org/W1976930960","https://openalex.org/W1988031530","https://openalex.org/W1988994102","https://openalex.org/W2000790002","https://openalex.org/W2002201291","https://openalex.org/W2002219970","https://openalex.org/W2029990316","https://openalex.org/W2040709641","https://openalex.org/W2053833381","https://openalex.org/W2058107561","https://openalex.org/W2066918959","https://openalex.org/W2087939536","https://openalex.org/W2091338725","https://openalex.org/W2091884377","https://openalex.org/W2094774093","https://openalex.org/W2096636360","https://openalex.org/W2099430963","https://openalex.org/W2099593662","https://openalex.org/W2100156971","https://openalex.org/W2103052138","https://openalex.org/W2113256452","https://openalex.org/W2122149458","https://openalex.org/W2124348791","https://openalex.org/W2124543852","https://openalex.org/W2125193619","https://openalex.org/W2125503755","https://openalex.org/W2132004142","https://openalex.org/W2141933910","https://openalex.org/W2145432448","https://openalex.org/W2164062812","https://openalex.org/W2164429173","https://openalex.org/W2206417925","https://openalex.org/W2323490143","https://openalex.org/W2611243847","https://openalex.org/W2951748345","https://openalex.org/W2955395171","https://openalex.org/W2988885761","https://openalex.org/W3102121895","https://openalex.org/W3104753760","https://openalex.org/W4232554840","https://openalex.org/W4236470048","https://openalex.org/W4388297583","https://openalex.org/W6602520029","https://openalex.org/W6604465034","https://openalex.org/W6605828235","https://openalex.org/W6631664056","https://openalex.org/W6637784466","https://openalex.org/W6639687419","https://openalex.org/W6674541415","https://openalex.org/W6770249431"],"related_works":["https://openalex.org/W2042038080","https://openalex.org/W4249701897","https://openalex.org/W2107308837","https://openalex.org/W71119328","https://openalex.org/W360452402","https://openalex.org/W2154502479","https://openalex.org/W2032711426","https://openalex.org/W2147558862","https://openalex.org/W4378942199","https://openalex.org/W4247004153"],"abstract_inverted_index":{"As":[0],"sampling-based":[1,48],"motion":[2,49,66],"planners":[3,50],"become":[4],"faster,":[5],"they":[6],"can":[7],"be":[8],"re-executed":[9],"more":[10],"frequently":[11],"by":[12],"a":[13,118],"robot":[14,23,57],"during":[15,44,141],"task":[16],"execution":[17],"to":[18,20,96,112,117],"react":[19],"uncertainty":[21,30],"in":[22,31,53],"motion,":[24,26],"obstacle":[25],"sensing":[27],"noise,":[28],"and":[29,38,82,107,156,162],"the":[32,56,60,64,69,98,109,122,150],"robot's":[33],"kinematic":[34],"model.":[35],"We":[36,72,126,147],"investigate":[37],"analyze":[39],"high-frequency":[40],"replanning":[41],"(HFR),":[42],"where,":[43],"each":[45,142],"period,":[46],"fast":[47],"are":[51],"executed":[52],"parallel":[54,130],"as":[55,129],"simultaneously":[58],"executes":[59],"first":[61],"action":[62],"of":[63,100,124,152],"best":[65],"plan":[67],"from":[68,88],"previous":[70],"period.":[71],"consider":[73],"discrete-time":[74],"systems":[75],"with":[76,85,105],"stochastic":[77],"nonlinear":[78],"(but":[79],"linearizable)":[80],"dynamics":[81],"observation":[83],"models":[84],"noise":[86],"drawn":[87],"zero":[89],"mean":[90],"Gaussian":[91],"distributions.":[92],"The":[93],"objective":[94],"is":[95],"maximize":[97],"probability":[99,123],"success":[101],"(i.e.,":[102],"avoid":[103],"collision":[104],"obstacles":[106],"reach":[108],"goal)":[110],"or":[111],"minimize":[113],"path":[114],"length":[115],"subject":[116],"lower":[119],"bound":[120],"on":[121],"success.":[125],"show":[127],"that,":[128],"computation":[131],"power":[132],"increases,":[133],"HFR":[134,153],"offers":[135],"asymptotic":[136],"optimality":[137],"for":[138,144,154],"these":[139],"objectives":[140],"period":[143],"goal-oriented":[145],"problems.":[146],"then":[148],"demonstrate":[149],"effectiveness":[151],"holonomic":[155],"nonholonomic":[157],"robots":[158],"including":[159],"car-like":[160],"vehicles":[161],"steerable":[163],"medical":[164],"needles.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-14T08:27:34.040176","created_date":"2025-10-10T00:00:00"}
