{"id":"https://openalex.org/W2910239470","doi":"https://doi.org/10.1109/tro.2018.2878996","title":"Collision-Free Encoding for Chance-Constrained Nonconvex Path Planning","display_name":"Collision-Free Encoding for Chance-Constrained Nonconvex Path Planning","publication_year":2019,"publication_date":"2019-01-15","ids":{"openalex":"https://openalex.org/W2910239470","doi":"https://doi.org/10.1109/tro.2018.2878996","mag":"2910239470"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2878996","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2878996","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":true,"oa_status":"green","oa_url":"http://dx.doi.org/10.1109/TRO.2018.2878996","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039202034","display_name":"M\u00e1rcio da Silva Arantes","orcid":"https://orcid.org/0000-0002-9309-7678"},"institutions":[{"id":"https://openalex.org/I1329807341","display_name":"Servi\u00e7o Nacional de Aprendizagem Industrial","ror":"https://ror.org/035c3nf67","country_code":"BR","type":"nonprofit","lineage":["https://openalex.org/I1329807341"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Marcio da Silva Arantes","raw_affiliation_strings":["SENAI Innovation Institute of Embedded Systems, Florian\u00f2polis, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SENAI Innovation Institute of Embedded Systems, Florian\u00f2polis, Brazil","institution_ids":["https://openalex.org/I1329807341"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037695680","display_name":"Cl\u00e1udio Fabiano Motta Toledo","orcid":"https://orcid.org/0000-0003-4776-8052"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Claudio Fabiano Motta Toledo","raw_affiliation_strings":["Institute of Mathematics and Computer Science, University of S\u00e3o Paulo, Sao Carlos, Brazil"],"raw_orcid":"https://orcid.org/0000-0003-4776-8052","affiliations":[{"raw_affiliation_string":"Institute of Mathematics and Computer Science, University of S\u00e3o Paulo, Sao Carlos, Brazil","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101709620","display_name":"Brian Williams","orcid":"https://orcid.org/0000-0002-1057-3940"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian Charles Williams","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101837588","display_name":"Masahiro Ono","orcid":"https://orcid.org/0000-0002-9247-1306"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masahiro Ono","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5039202034"],"corresponding_institution_ids":["https://openalex.org/I1329807341"],"apc_list":null,"apc_paid":null,"fwci":4.6971,"has_fulltext":false,"cited_by_count":76,"citation_normalized_percentile":{"value":0.95920298,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"35","issue":"2","first_page":"433","last_page":"448"},"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11622","display_name":"Maritime Navigation and Safety","score":0.9807000160217285,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/mathematical-optimization","display_name":"Mathematical optimization","score":0.7080270648002625},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6800780296325684},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6362899541854858},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.6260268688201904},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6085870265960693},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6085134148597717},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5763214826583862},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49113938212394714},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.49058619141578674},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.44665735960006714},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.4462571442127228},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.4211730659008026},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23480737209320068},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19674795866012573},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1236623227596283}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.7080270648002625},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6800780296325684},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6362899541854858},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.6260268688201904},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6085870265960693},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6085134148597717},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5763214826583862},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49113938212394714},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.49058619141578674},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.44665735960006714},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4462571442127228},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.4211730659008026},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23480737209320068},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19674795866012573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1236623227596283},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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":2,"locations":[{"id":"doi:10.1109/tro.2018.2878996","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2878996","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:002937739","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/TRO.2018.2878996","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"reponame:Reposit\u00f3rio Institucional da USP (Biblioteca Digital da Produ\u00e7\u00e3o Intelectual)","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:002937739","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/TRO.2018.2878996","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"reponame:Reposit\u00f3rio Institucional da USP (Biblioteca Digital da Produ\u00e7\u00e3o Intelectual)","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.5899999737739563}],"awards":[{"id":"https://openalex.org/G7345425992","display_name":null,"funder_award_id":"N00014-15-IP-00052","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1563295353","https://openalex.org/W1568784080","https://openalex.org/W1601512022","https://openalex.org/W1602410440","https://openalex.org/W1605218591","https://openalex.org/W1756618330","https://openalex.org/W1999131722","https://openalex.org/W2002201291","https://openalex.org/W2067778155","https://openalex.org/W2072195747","https://openalex.org/W2101496914","https://openalex.org/W2102488278","https://openalex.org/W2103052138","https://openalex.org/W2110413931","https://openalex.org/W2138693458","https://openalex.org/W2139809908","https://openalex.org/W2164429173","https://openalex.org/W2185717254","https://openalex.org/W2237263292","https://openalex.org/W2306644740","https://openalex.org/W2323490143","https://openalex.org/W2335556270","https://openalex.org/W2343568200","https://openalex.org/W2468618434","https://openalex.org/W2510352861","https://openalex.org/W2515498963","https://openalex.org/W2786490166","https://openalex.org/W6634038961","https://openalex.org/W6636177105","https://openalex.org/W6680368953","https://openalex.org/W6686562744","https://openalex.org/W6748242957"],"related_works":["https://openalex.org/W4400246438","https://openalex.org/W2576812951","https://openalex.org/W2368795992","https://openalex.org/W2908094156","https://openalex.org/W2990979393","https://openalex.org/W2966249567","https://openalex.org/W4308080200","https://openalex.org/W1997369033","https://openalex.org/W2914610299","https://openalex.org/W4210716962"],"abstract_inverted_index":{"The":[0,132,162],"path":[1,41,60,75,184,227,236],"planning":[2,61],"methods":[3,62],"based":[4],"on":[5,92,145,210,222],"nonconvex":[6,213],"constrained":[7],"optimization,":[8],"such":[9],"as":[10],"mixed-integer":[11],"linear":[12],"programming":[13],"(MILP),":[14],"have":[15,38],"found":[16],"various":[17],"important":[18],"applications,":[19],"ranging":[20],"from":[21],"unmanned":[22],"aerial":[23],"vehicles":[24,29],"(UAVs)":[25],"and":[26,83,156,192,229,234],"autonomous":[27],"underwater":[28],"(AUVs)":[30],"to":[31,50,121,136,182,224],"space":[32],"vehicles.":[33],"Moreover,":[34],"their":[35],"stochastic":[36],"extensions":[37,181],"enabled":[39],"risk-aware":[40],"planning,":[42],"which":[43,168],"explicitly":[44],"limits":[45],"the":[46,71,84,95,101,139,196,202,211,226],"probability":[47],"of":[48,58,81,153,205,231],"failure":[49],"a":[51,55,74,79,118,129],"user-specified":[52],"bound.":[53],"However,":[54],"major":[56],"challenge":[57],"those":[59],"is":[63,76,135,143,166,200,208],"constraint":[64,123,142],"violation":[65],"between":[66,97,125,160],"discrete":[67],"time":[68,149],"steps.":[69],"In":[70,113],"existing":[72],"approach,":[73],"represented":[77],"by":[78,173],"sequence":[80],"waypoints":[82,98,126],"safety":[85,102,228],"constraints":[86],"(e.g.,":[87],"obstacle":[88],"avoidance)":[89],"are":[90],"imposed":[91],"waypoints.":[93,161],"Therefore,":[94],"trajectory":[96,159],"could":[99],"violate":[100],"constraints.":[103],"A":[104],"naive":[105],"continuous-time":[106,130],"extension":[107],"results":[108,221],"in":[109],"unrealistic":[110],"computation":[111],"cost.":[112],"this":[114,206],"paper,":[115],"we":[116,177],"propose":[117],"novel":[119,180],"approach":[120,199],"ensure":[122],"satisfaction":[124],"without":[127],"employing":[128],"formulation.":[131],"key":[133],"idea":[134],"enforce":[137],"that":[138],"same":[140],"inequality":[141],"satisfied":[144],"any":[146],"two":[147],"adjacent":[148],"steps,":[150],"under":[151],"assumptions":[152],"polygonal":[154],"obstacles":[155],"straight":[157],"line":[158],"resulting":[163],"problem":[164,215],"encoding":[165,198,233],"MILP,":[167],"can":[169],"be":[170],"solved":[171],"efficiently":[172],"commercial":[174],"solvers.":[175],"Thus,":[176],"also":[178],"introduce":[179],"risk-allocation":[183],"planners":[185],"with":[186],"improved":[187],"scalability":[188,230],"for":[189],"real-world":[190],"scenarios":[191],"run-time":[193],"performance.":[194],"While":[195],"proposed":[197],"general,":[201],"particular":[203],"emphasis":[204],"paper":[207],"placed":[209],"chance-constrained,":[212],"path-planning":[214],"(CNPP).":[216],"We":[217],"provide":[218],"extensive":[219],"simulation":[220],"CNPP":[223],"demonstrate":[225],"our":[232],"related":[235],"planners.":[237]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":21},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2019-01-25T00:00:00"}
