{"id":"https://openalex.org/W1971355878","doi":"https://doi.org/10.1177/0278364906067174","title":"On the Probabilistic Foundations of Probabilistic Roadmap Planning","display_name":"On the Probabilistic Foundations of Probabilistic Roadmap Planning","publication_year":2006,"publication_date":"2006-06-20","ids":{"openalex":"https://openalex.org/W1971355878","doi":"https://doi.org/10.1177/0278364906067174","mag":"1971355878"},"language":"en","primary_location":{"id":"doi:10.1177/0278364906067174","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364906067174","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5082344124","display_name":"David Hsu","orcid":"https://orcid.org/0000-0002-2309-4535"},"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":true,"raw_author_name":"David Hsu","raw_affiliation_strings":["Department of Computer Science, National University of Singapore,                         Singapore, 117543,","Department of Computer Science, National University of Singapore, Singapore 117543#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, National University of Singapore,                         Singapore, 117543,","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Computer Science, National University of Singapore, Singapore 117543#TAB#","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114247093","display_name":"Jean\u2010Claude Latombe","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jean-Claude Latombe","raw_affiliation_strings":["Department of Computer Science, Stanford University, Stanford, CA 94305,                         USA,","Department of Computer Science, Stanford University, Stanford CA 94305, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford, CA 94305,                         USA,","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford CA 94305, USA#TAB#","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073857354","display_name":"Hanna Kurniawati","orcid":null},"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":true,"raw_author_name":"Hanna Kurniawati","raw_affiliation_strings":["Department of Computer Science, National University of Singapore,                         Singapore, 117543,","Department of Computer Science, National University of Singapore, Singapore 117543#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, National University of Singapore,                         Singapore, 117543,","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Computer Science, National University of Singapore, Singapore 117543#TAB#","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5073857354","https://openalex.org/A5082344124","https://openalex.org/A5114247093"],"corresponding_institution_ids":["https://openalex.org/I165932596","https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":30.5,"has_fulltext":false,"cited_by_count":259,"citation_normalized_percentile":{"value":0.99883652,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"25","issue":"7","first_page":"627","last_page":"643"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9943000078201294,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9941999912261963,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.9007998704910278},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.8158634305000305},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7250765562057495},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7099789381027222},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.6229560375213623},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5915748476982117},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5907083749771118},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.5221850275993347},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5131390690803528},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44510456919670105},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40119031071662903},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3909614682197571},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.20434746146202087},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.0706557035446167}],"concepts":[{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.9007998704910278},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.8158634305000305},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7250765562057495},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7099789381027222},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.6229560375213623},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5915748476982117},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5907083749771118},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.5221850275993347},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5131390690803528},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44510456919670105},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40119031071662903},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3909614682197571},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.20434746146202087},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0706557035446167},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":9,"locations":[{"id":"doi:10.1177/0278364906067174","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364906067174","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/39173","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/39173","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/39297","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/39297","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.100.1196","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.100.1196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.wafr.org/papers/ip-latombe.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.412.8257","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.412.8257","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ai.stanford.edu/~latombe/papers/foundation-prm-05/paper.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.60.9387","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.60.9387","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.comp.nus.edu.sg/~hannakur/./papers/isrr05_prmFoundation.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.78.9214","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.78.9214","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robotics.stanford.edu/~latombe/papers/isrr05/paper.pdf","raw_type":"text"},{"id":"pmh:oai:espace.library.uq.edu.au:UQ:328205","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402388","display_name":"Queensland's institutional digital repository (The University of Queensland)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I165143802","host_organization_name":"The University of Queensland","host_organization_lineage":["https://openalex.org/I165143802"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/733754365","is_oa":false,"landing_page_url":"https://hdl.handle.net/1885/733754365","pdf_url":null,"source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Robotics Research","raw_type":"Journal article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7400000095367432,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":66,"referenced_works":["https://openalex.org/W47556920","https://openalex.org/W73389528","https://openalex.org/W181534116","https://openalex.org/W248545364","https://openalex.org/W281357932","https://openalex.org/W373813039","https://openalex.org/W1491063910","https://openalex.org/W1495392417","https://openalex.org/W1516275525","https://openalex.org/W1520252399","https://openalex.org/W1521785144","https://openalex.org/W1554056522","https://openalex.org/W1585638810","https://openalex.org/W1586146481","https://openalex.org/W1670942551","https://openalex.org/W1763528081","https://openalex.org/W1937845308","https://openalex.org/W1981663184","https://openalex.org/W2021118704","https://openalex.org/W2022854905","https://openalex.org/W2022921915","https://openalex.org/W2034053794","https://openalex.org/W2043419861","https://openalex.org/W2055841872","https://openalex.org/W2058240764","https://openalex.org/W2066011869","https://openalex.org/W2096636360","https://openalex.org/W2100656238","https://openalex.org/W2101043416","https://openalex.org/W2105289524","https://openalex.org/W2105509128","https://openalex.org/W2107535513","https://openalex.org/W2109212155","https://openalex.org/W2111994433","https://openalex.org/W2112388515","https://openalex.org/W2114628632","https://openalex.org/W2115045036","https://openalex.org/W2128990851","https://openalex.org/W2139230981","https://openalex.org/W2144836152","https://openalex.org/W2149602461","https://openalex.org/W2151735274","https://openalex.org/W2152128591","https://openalex.org/W2154038478","https://openalex.org/W2155441094","https://openalex.org/W2156459680","https://openalex.org/W2156758121","https://openalex.org/W2158207287","https://openalex.org/W2159524963","https://openalex.org/W2159722616","https://openalex.org/W2161473822","https://openalex.org/W2163829685","https://openalex.org/W2167458557","https://openalex.org/W2171266831","https://openalex.org/W2293271910","https://openalex.org/W2397499736","https://openalex.org/W2623660146","https://openalex.org/W2752853835","https://openalex.org/W2907227701","https://openalex.org/W4236470048","https://openalex.org/W4244247490","https://openalex.org/W4246226690","https://openalex.org/W4249137521","https://openalex.org/W4252017042","https://openalex.org/W4300580367","https://openalex.org/W4365799809"],"related_works":["https://openalex.org/W2060743914","https://openalex.org/W2107702345","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W2389713625","https://openalex.org/W4308217561","https://openalex.org/W2134348961","https://openalex.org/W2115192598","https://openalex.org/W2116162693"],"abstract_inverted_index":{"Why":[0],"is":[1,93],"probabilistic":[2,52],"roadmap":[3,109],"(PRM)":[4],"planning":[5,56,71],"probabilistic?":[6],"How":[7],"does":[8],"the":[9,20,51,67,118,128,131,147],"probability":[10,119],"measure":[11,120],"used":[12],"for":[13,88,121],"sampling":[14,132,148],"a":[15,23,81,139],"robot\u2019s":[16,82],"configuration":[17,83],"space":[18],"affect":[19],"performance":[21],"of":[22,54,69,80,98,130,146],"PRM":[24,55,70,91,140],"planner?":[25],"These":[26,150],"questions":[27],"have":[28],"received":[29],"little":[30],"attention":[31],"to":[32,37,45,94,112,116],"date.":[33],"This":[34,123],"paper":[35,124],"tries":[36],"fill":[38],"this":[39,62,114],"gap":[40],"and":[41,57,74,105,111,157],"identify":[42],"promising":[43,86],"directions":[44],"improve":[46],"future":[47],"planners.":[48],"It":[49,64],"introduces":[50],"foundations":[53],"examines":[58],"previous":[59],"work":[60],"in":[61],"context.":[63],"shows":[65,126],"that":[66,127,145],"success":[68],"depends":[72],"mainly":[73],"critically":[75],"on":[76,138],"favorable":[77],"\u201cvisibility\u201d":[78],"properties":[79,100],"space.":[84],"A":[85],"direction":[87],"speeding":[89],"up":[90],"planners":[92],"infer":[95],"partial":[96],"knowledge":[97,115],"such":[99],"from":[101],"both":[102,155],"workspace":[103],"geometry":[104],"information":[106],"gathered":[107],"during":[108],"construction,":[110],"use":[113],"adapt":[117],"sampling.":[122],"also":[125],"choice":[129],"source\u2014pseudo-random":[133],"or":[134],"deterministic\u2014has":[135],"small":[136],"impact":[137],"planner\u2019s":[141],"performance,":[142],"compared":[143],"with":[144],"measure.":[149],"conclusions":[151],"are":[152],"supported":[153],"by":[154],"theoretical":[156],"empirical":[158],"results.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":22},{"year":2019,"cited_by_count":19},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":14},{"year":2014,"cited_by_count":18},{"year":2013,"cited_by_count":14},{"year":2012,"cited_by_count":12}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
