{"id":"https://openalex.org/W4404520514","doi":"https://doi.org/10.1109/tro.2024.3502505","title":"iDb-A*: Iterative Search and Optimization for Optimal Kinodynamic Motion Planning","display_name":"iDb-A*: Iterative Search and Optimization for Optimal Kinodynamic Motion Planning","publication_year":2024,"publication_date":"2024-11-19","ids":{"openalex":"https://openalex.org/W4404520514","doi":"https://doi.org/10.1109/tro.2024.3502505"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3502505","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3502505","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/A5023723359","display_name":"Joaquim Ortiz-Haro","orcid":null},"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"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Joaquim Ortiz-Haro","raw_affiliation_strings":["Machines in Motion Laboratory, New York University, New York, NY, USA","Machines in Motion Laboratory, New York University, USA"],"affiliations":[{"raw_affiliation_string":"Machines in Motion Laboratory, New York University, New York, NY, USA","institution_ids":["https://openalex.org/I4210133016"]},{"raw_affiliation_string":"Machines in Motion Laboratory, New York University, USA","institution_ids":["https://openalex.org/I4210133016","https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086120608","display_name":"Wolfgang H\u00f6nig","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfgang H\u00f6nig","raw_affiliation_strings":["Technical University Berlin, Berlin, Germany","TU Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]},{"raw_affiliation_string":"TU Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043951083","display_name":"Valentin N. Hartmann","orcid":"https://orcid.org/0000-0002-9661-2751"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Valentin N. Hartmann","raw_affiliation_strings":["Technical University Berlin, Berlin, Germany","TU Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]},{"raw_affiliation_string":"TU Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065672819","display_name":"Marc Toussaint","orcid":"https://orcid.org/0000-0002-5487-6767"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Toussaint","raw_affiliation_strings":["Technical University Berlin, Berlin, Germany","TU Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]},{"raw_affiliation_string":"TU Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5023723359"],"corresponding_institution_ids":["https://openalex.org/I4210133016","https://openalex.org/I57206974"],"apc_list":null,"apc_paid":null,"fwci":2.2049,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.8935552,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"41","issue":null,"first_page":"2031","last_page":"2049"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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":0.9991999864578247,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9954000115394592,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6083375215530396},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5533591508865356},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4904181659221649},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.46937134861946106},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.45580223202705383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38509708642959595},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3314250409603119},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30008918046951294},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28416961431503296},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2602721154689789}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6083375215530396},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5533591508865356},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4904181659221649},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.46937134861946106},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.45580223202705383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38509708642959595},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3314250409603119},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30008918046951294},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28416961431503296},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2602721154689789}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3502505","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3502505","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8510052915","display_name":null,"funder_award_id":"448549715","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G8757728452","display_name":null,"funder_award_id":"EXC 2120/1-390831618","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W195033972","https://openalex.org/W342173881","https://openalex.org/W954728917","https://openalex.org/W1160995053","https://openalex.org/W1424654272","https://openalex.org/W1633338931","https://openalex.org/W1742473997","https://openalex.org/W1814533834","https://openalex.org/W1855325913","https://openalex.org/W1970101292","https://openalex.org/W1971086298","https://openalex.org/W1976385924","https://openalex.org/W2000359213","https://openalex.org/W2055381865","https://openalex.org/W2057799302","https://openalex.org/W2076940249","https://openalex.org/W2099454002","https://openalex.org/W2109656638","https://openalex.org/W2110762409","https://openalex.org/W2113029345","https://openalex.org/W2123871098","https://openalex.org/W2128990851","https://openalex.org/W2132990760","https://openalex.org/W2142224528","https://openalex.org/W2142298978","https://openalex.org/W2158055488","https://openalex.org/W2162991084","https://openalex.org/W2166077797","https://openalex.org/W2169620359","https://openalex.org/W2221321873","https://openalex.org/W2416313483","https://openalex.org/W2610753682","https://openalex.org/W2885010347","https://openalex.org/W2890523827","https://openalex.org/W2910893906","https://openalex.org/W2962787639","https://openalex.org/W2963249250","https://openalex.org/W2963645756","https://openalex.org/W2963801017","https://openalex.org/W2964057747","https://openalex.org/W2967267347","https://openalex.org/W3003275082","https://openalex.org/W3004162504","https://openalex.org/W3081791272","https://openalex.org/W3089866190","https://openalex.org/W3091056066","https://openalex.org/W3128381983","https://openalex.org/W3178731359","https://openalex.org/W3203254224","https://openalex.org/W3205649458","https://openalex.org/W3206936826","https://openalex.org/W4285102382","https://openalex.org/W4297510490","https://openalex.org/W4312494237","https://openalex.org/W4312602775","https://openalex.org/W4389481316","https://openalex.org/W6605295560","https://openalex.org/W6639871426","https://openalex.org/W6683620479","https://openalex.org/W6775299407"],"related_works":["https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W2111158727","https://openalex.org/W1809059965","https://openalex.org/W2024668666","https://openalex.org/W2155287816","https://openalex.org/W2132826624","https://openalex.org/W4281385974","https://openalex.org/W1990568201","https://openalex.org/W2125569607"],"abstract_inverted_index":{"Motion":[0],"planning":[1],"for":[2,62,126],"robotic":[3],"systems":[4,34],"with":[5,45,139,158],"complex":[6],"dynamics":[7],"is":[8,28,41,80],"a":[9,46,73,84,98,113,127,164],"challenging":[10],"problem.":[11],"While":[12],"recent":[13],"sampling-based":[14],"algorithms":[15],"achieve":[16],"asymptotic":[17,156],"optimality":[18,157],"by":[19],"propagating":[20],"random":[21],"control":[22],"inputs,":[23],"their":[24],"empirical":[25],"convergence":[26],"rate":[27],"often":[29],"poor,":[30],"especially":[31],"in":[32],"high-dimensional":[33],"such":[35],"as":[36],"multirotors.":[37,180],"An":[38],"alternative":[39],"approach":[40,68],"to":[42,55,71,83,182],"first":[43],"plan":[44],"simplified":[47],"geometric":[48],"model":[49],"and":[50,106,148,179,191],"then":[51],"use":[52],"trajectory":[53,75,140],"optimization":[54,107,133],"follow":[56],"the":[57,63,77,137,145],"reference":[58],"path":[59],"while":[60,124],"accounting":[61],"true":[64],"dynamics.":[65],"However,":[66],"this":[67,89],"may":[69],"fail":[70],"produce":[72],"valid":[74],"if":[76],"initial":[78],"guess":[79],"not":[81],"close":[82],"dynamically":[85],"feasible":[86],"trajectory.":[87],"In":[88],"article,":[90],"we":[91],"present":[92],"Iterative":[93],"Discontinuity":[94],"Bounded":[95],"A*":[96],"(iDb-A*),":[97],"novel":[99],"kinodynamic":[100],"motion":[101,151],"planner":[102],"that":[103,121],"combines":[104],"search":[105,110],"iteratively.":[108],"The":[109,132],"step":[111,134],"utilizes":[112],"finite":[114],"set":[115],"of":[116,166,177],"short":[117],"trajectories":[118],"(motion":[119],"primitives)":[120],"are":[122],"interconnected":[123],"allowing":[125],"bounded":[128],"discontinuity":[129,147],"between":[130],"them.":[131],"locally":[135],"repairs":[136],"discontinuities":[138],"optimization.":[141],"By":[142],"progressively":[143],"reducing":[144],"allowed":[146],"incorporating":[149],"more":[150,188,195],"primitives,":[152],"our":[153],"algorithm":[154],"achieves":[155],"excellent":[159],"any-time":[160],"performance.":[161],"We":[162],"provide":[163],"benchmark":[165],"43":[167],"problems":[168],"across":[169],"eight":[170],"different":[171,175],"dynamical":[172],"systems,":[173],"including":[174],"versions":[176],"unicycles":[178],"Compared":[181],"state-of-the-art":[183],"methods,":[184],"iDb-A*":[185],"consistently":[186],"solves":[187],"problem":[189],"instances":[190],"finds":[192],"lower-cost":[193],"solutions":[194],"rapidly.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}