{"id":"https://openalex.org/W4287234757","doi":"https://doi.org/10.1109/tro.2022.3187818","title":"Efficient Path Planning in Narrow Passages for Robots With Ellipsoidal Components","display_name":"Efficient Path Planning in Narrow Passages for Robots With Ellipsoidal Components","publication_year":2022,"publication_date":"2022-07-27","ids":{"openalex":"https://openalex.org/W4287234757","doi":"https://doi.org/10.1109/tro.2022.3187818"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3187818","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2022.3187818","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/10040949/09841604.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/8860/10040949/09841604.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030011125","display_name":"Sipu Ruan","orcid":"https://orcid.org/0000-0001-5075-6728"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Sipu Ruan","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-5075-6728","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057285479","display_name":"Karen L. Poblete","orcid":null},"institutions":[{"id":"https://openalex.org/I72509657","display_name":"Epic Systems (United States)","ror":"https://ror.org/029z3g861","country_code":"US","type":"company","lineage":["https://openalex.org/I72509657"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karen L. Poblete","raw_affiliation_strings":["Epic Systems, Verona, WI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Epic Systems, Verona, WI, USA","institution_ids":["https://openalex.org/I72509657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044013282","display_name":"Hongtao Wu","orcid":"https://orcid.org/0000-0002-6442-8159"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongtao Wu","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":"https://orcid.org/0000-0002-6442-8159","affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074805676","display_name":"Qianli Ma","orcid":"https://orcid.org/0000-0002-8127-9781"},"institutions":[{"id":"https://openalex.org/I4210133016","display_name":"Motion Control (United States)","ror":"https://ror.org/03yjg6e54","country_code":"US","type":"company","lineage":["https://openalex.org/I4210133016"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qianli Ma","raw_affiliation_strings":["Motional, Inc., Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8127-9781","affiliations":[{"raw_affiliation_string":"Motional, Inc., Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210133016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012775344","display_name":"Gregory S. Chirikjian","orcid":"https://orcid.org/0000-0003-0542-9028"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gregory S. Chirikjian","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-0542-9028","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.8218,"has_fulltext":true,"cited_by_count":50,"citation_normalized_percentile":{"value":0.95095981,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"39","issue":"1","first_page":"110","last_page":"127"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.996999979019165,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6967117190361023},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6742472052574158},{"id":"https://openalex.org/keywords/ellipsoid","display_name":"Ellipsoid","score":0.644790768623352},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5447027683258057},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.46126940846443176},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4410322606563568},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42078205943107605},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1687559187412262}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6967117190361023},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6742472052574158},{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.644790768623352},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5447027683258057},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.46126940846443176},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4410322606563568},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42078205943107605},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1687559187412262},{"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2022.3187818","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2022.3187818","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/10040949/09841604.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2104.04658","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.04658","pdf_url":"https://arxiv.org/pdf/2104.04658","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.1109/tro.2022.3187818","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2022.3187818","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/10040949/09841604.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6899999976158142,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1606487655","display_name":null,"funder_award_id":"C-265-000-071-001","funder_id":"https://openalex.org/F4320320698","funder_display_name":"National University of Singapore"},{"id":"https://openalex.org/G3125856967","display_name":null,"funder_award_id":"R-265-000-665-731","funder_id":"https://openalex.org/F4320320698","funder_display_name":"National University of Singapore"},{"id":"https://openalex.org/G3708193566","display_name":null,"funder_award_id":"R-265-000-665-133","funder_id":"https://openalex.org/F4320320698","funder_display_name":"National University of Singapore"},{"id":"https://openalex.org/G4504108201","display_name":null,"funder_award_id":"N00014-17-1","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G4576887121","display_name":null,"funder_award_id":"R-261-521-002-592","funder_id":"https://openalex.org/F4320320709","funder_display_name":"National Research Foundation Singapore"},{"id":"https://openalex.org/G4690157246","display_name":null,"funder_award_id":"N00014-17-1-2142","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G8876996369","display_name":null,"funder_award_id":"N00014","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G932092497","display_name":"RI: Small: A Paradigm for Motion Planning Based on Parameterization of Free Space","funder_award_id":"1619050","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/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320320698","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49"},{"id":"https://openalex.org/F4320320709","display_name":"National Research Foundation Singapore","ror":"https://ror.org/03cpyc314"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4287234757.pdf","grobid_xml":"https://content.openalex.org/works/W4287234757.grobid-xml"},"referenced_works_count":62,"referenced_works":["https://openalex.org/W89668600","https://openalex.org/W131069610","https://openalex.org/W151424416","https://openalex.org/W1520984205","https://openalex.org/W1937587174","https://openalex.org/W1969483458","https://openalex.org/W1974543286","https://openalex.org/W1979867394","https://openalex.org/W1994349244","https://openalex.org/W2004139909","https://openalex.org/W2021778674","https://openalex.org/W2023751161","https://openalex.org/W2025591272","https://openalex.org/W2026612049","https://openalex.org/W2032207853","https://openalex.org/W2046106152","https://openalex.org/W2059284285","https://openalex.org/W2065346995","https://openalex.org/W2103847686","https://openalex.org/W2107454656","https://openalex.org/W2107535513","https://openalex.org/W2109212155","https://openalex.org/W2110762409","https://openalex.org/W2118356379","https://openalex.org/W2123424922","https://openalex.org/W2123564600","https://openalex.org/W2128990851","https://openalex.org/W2129358707","https://openalex.org/W2129827919","https://openalex.org/W2138663260","https://openalex.org/W2141664020","https://openalex.org/W2152864241","https://openalex.org/W2159722616","https://openalex.org/W2163268899","https://openalex.org/W2171266831","https://openalex.org/W2220144476","https://openalex.org/W2293482280","https://openalex.org/W2414434006","https://openalex.org/W2736737714","https://openalex.org/W2765140685","https://openalex.org/W2773686622","https://openalex.org/W2775435206","https://openalex.org/W2935729949","https://openalex.org/W2963804889","https://openalex.org/W2965906082","https://openalex.org/W2968031118","https://openalex.org/W2969799340","https://openalex.org/W2972306695","https://openalex.org/W2981010689","https://openalex.org/W2999253226","https://openalex.org/W3002657127","https://openalex.org/W3005304560","https://openalex.org/W3021841679","https://openalex.org/W3043250901","https://openalex.org/W3131987590","https://openalex.org/W4210526227","https://openalex.org/W4242811155","https://openalex.org/W4251391716","https://openalex.org/W6605295560","https://openalex.org/W6747058205","https://openalex.org/W6769103813","https://openalex.org/W6878191524"],"related_works":["https://openalex.org/W2005485125","https://openalex.org/W2390718407","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W3154539612"],"abstract_inverted_index":{"Path":[0],"planning":[1,54,67,158],"has":[2,172],"long":[3],"been":[4],"one":[5],"of":[6,24,29,46,74,95,193],"the":[7,25,43,156,170,183,188,220],"major":[8],"research":[9],"areas":[10],"in":[11,42,106,168,191,199,232],"robotics,":[12],"with":[13,87,151,212,236],"probabilistic":[14],"roadmap":[15],"(PRM)":[16],"and":[17,176,196,210],"rapidly-exploring":[18],"random":[19],"trees":[20],"(RRT)":[21],"being":[22],"two":[23],"most":[26],"effective":[27],"classes":[28],"planners.":[30],"Though":[31],"generally":[32],"very":[33],"efficient,":[34],"these":[35],"sampling-based":[36,189],"planners":[37,190],"can":[38,102,160],"become":[39],"computationally":[40],"expensive":[41],"important":[44],"case":[45],"\u201cnarrow":[47],"passages.\u201d":[48],"This":[49],"article":[50],"develops":[51],"a":[52,83,124,152,173,201,227],"path":[53,202],"paradigm":[55],"specifically":[56],"formulated":[57],"for":[58,68,128,206],"narrow":[59,204,237],"passage":[60],"problems.":[61],"The":[62,92],"core":[63],"is":[64,79,98],"based":[65],"on":[66,226],"rigid-body":[69],"robots":[70,209],"encapsulated":[71],"by":[72,122,149],"unions":[73],"ellipsoids.":[75],"Each":[76],"environmental":[77],"feature":[78],"represented":[80],"geometrically":[81],"using":[82,219],"strictly":[84],"convex":[85],"body":[86],"a$\\mathcal":[88],"{C}^{1}$boundary":[89],"(e.g.,":[90],"superquadric).":[91],"main":[93],"benefit":[94],"doing":[96],"this":[97],"that":[99,182,230],"configuration-space":[100],"obstacles":[101],"be":[103,114,138,161],"parameterized":[104],"explicitly":[105],"closed":[107],"form,":[108],"thereby":[109],"allowing":[110],"prior":[111],"knowledge":[112],"to":[113,116,137,143,163],"used":[115],"avoid":[117],"sampling":[118,154],"infeasible":[119],"configurations.":[120],"Then,":[121],"characterizing":[123],"tight":[125],"volume":[126],"bound":[127],"multiple":[129],"ellipsoids,":[130],"robot":[131,171,229],"transitions":[132],"involving":[133],"rotations":[134],"are":[135,223],"guaranteed":[136],"collision":[139,146],"free":[140],"without":[141],"needing":[142],"perform":[144],"traditional":[145],"detection.":[147],"Furthermore,":[148],"combining":[150],"stochastic":[153],"strategy,":[155],"proposed":[157,184,221],"framework":[159,185,222],"extended":[162],"solving":[164],"higher":[165,213],"dimensional":[166,214],"problems,":[167],"which":[169],"moving":[174],"base":[175],"articulated":[177],"appendages.":[178],"Benchmark":[179],"results":[180],"show":[181],"often":[186],"outperforms":[187],"terms":[192],"computational":[194],"time":[195],"success":[197],"rate":[198],"finding":[200],"through":[203],"corridors":[205],"both":[207],"single-body":[208],"those":[211],"configuration":[215],"spaces.":[216],"Physical":[217],"experiments":[218],"further":[224],"demonstrated":[225],"humanoid":[228],"walks":[231],"several":[233],"cluttered":[234],"environments":[235],"passages.":[238]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4}],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2025-10-10T00:00:00"}