{"id":"https://openalex.org/W2132990760","doi":"https://doi.org/10.1177/0278364915614386","title":"Asymptotically optimal sampling-based kinodynamic planning","display_name":"Asymptotically optimal sampling-based kinodynamic planning","publication_year":2016,"publication_date":"2016-02-03","ids":{"openalex":"https://openalex.org/W2132990760","doi":"https://doi.org/10.1177/0278364915614386","mag":"2132990760"},"language":"en","primary_location":{"id":"doi:10.1177/0278364915614386","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915614386","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/A5100652696","display_name":"Yanbo Li","orcid":"https://orcid.org/0000-0001-5144-2309"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]},{"id":"https://openalex.org/I4210096112","display_name":"Rutgers Sexual and Reproductive Health and Rights","ror":"https://ror.org/00rcvgx40","country_code":"NL","type":"other","lineage":["https://openalex.org/I4210096112"]},{"id":"https://openalex.org/I4210123151","display_name":"R\u00fctgers (Germany)","ror":"https://ror.org/02wmkbh90","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210123151"]}],"countries":["DE","NL","US"],"is_corresponding":false,"raw_author_name":"Yanbo Li","raw_affiliation_strings":["Rutgers University-New Brunswick"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University-New Brunswick","institution_ids":["https://openalex.org/I4210123151","https://openalex.org/I102322142","https://openalex.org/I4210096112"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072676941","display_name":"Zakary Littlefield","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]},{"id":"https://openalex.org/I4210096112","display_name":"Rutgers Sexual and Reproductive Health and Rights","ror":"https://ror.org/00rcvgx40","country_code":"NL","type":"other","lineage":["https://openalex.org/I4210096112"]},{"id":"https://openalex.org/I4210123151","display_name":"R\u00fctgers (Germany)","ror":"https://ror.org/02wmkbh90","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210123151"]}],"countries":["DE","NL","US"],"is_corresponding":false,"raw_author_name":"Zakary Littlefield","raw_affiliation_strings":["Rutgers University-New Brunswick"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University-New Brunswick","institution_ids":["https://openalex.org/I4210123151","https://openalex.org/I102322142","https://openalex.org/I4210096112"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Kostas E. Bekris","raw_affiliation_strings":["School of Arts and Sciences, Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Arts and Sciences, Computer Science","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5010667333"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.9328,"has_fulltext":false,"cited_by_count":257,"citation_normalized_percentile":{"value":0.99028206,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"35","issue":"5","first_page":"528","last_page":"564"},"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9833999872207642,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9764999747276306,"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/solver","display_name":"Solver","score":0.6997883915901184},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6929624080657959},{"id":"https://openalex.org/keywords/asymptotically-optimal-algorithm","display_name":"Asymptotically optimal algorithm","score":0.682799756526947},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6203867197036743},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.5977915525436401},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.49805784225463867},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4768415689468384},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45708346366882324},{"id":"https://openalex.org/keywords/dynamical-system","display_name":"Dynamical system (definition)","score":0.45244309306144714},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.43195411562919617},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4265737533569336},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.4241490066051483},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.4151514768600464},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36217817664146423},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.217777818441391},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1784939467906952}],"concepts":[{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6997883915901184},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6929624080657959},{"id":"https://openalex.org/C181789720","wikidata":"https://www.wikidata.org/wiki/Q4812191","display_name":"Asymptotically optimal algorithm","level":2,"score":0.682799756526947},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6203867197036743},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.5977915525436401},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.49805784225463867},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4768415689468384},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45708346366882324},{"id":"https://openalex.org/C33962884","wikidata":"https://www.wikidata.org/wiki/Q378637","display_name":"Dynamical system (definition)","level":3,"score":0.45244309306144714},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.43195411562919617},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4265737533569336},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.4241490066051483},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.4151514768600464},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36217817664146423},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.217777818441391},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1784939467906952},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364915614386","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915614386","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:alma.01RUT_INST:11664850160004646","is_oa":false,"landing_page_url":"https://scholarship.libraries.rutgers.edu/esploro/outputs/journalArticle/Asymptotically-optimal-sampling-based-kinodynamic-planning/991031665006104646","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":89,"referenced_works":["https://openalex.org/W22545347","https://openalex.org/W22661957","https://openalex.org/W157296195","https://openalex.org/W231147053","https://openalex.org/W300028405","https://openalex.org/W326738931","https://openalex.org/W848202477","https://openalex.org/W1160995053","https://openalex.org/W1494464587","https://openalex.org/W1536373029","https://openalex.org/W1553616171","https://openalex.org/W1619551699","https://openalex.org/W1661823234","https://openalex.org/W1670942551","https://openalex.org/W1968651858","https://openalex.org/W1969907553","https://openalex.org/W1971086298","https://openalex.org/W1973594680","https://openalex.org/W1981040965","https://openalex.org/W1985578018","https://openalex.org/W1986004895","https://openalex.org/W1988819636","https://openalex.org/W2000194319","https://openalex.org/W2000359213","https://openalex.org/W2002548850","https://openalex.org/W2003835006","https://openalex.org/W2004100691","https://openalex.org/W2027111556","https://openalex.org/W2031179071","https://openalex.org/W2031335381","https://openalex.org/W2036016432","https://openalex.org/W2043292926","https://openalex.org/W2043515542","https://openalex.org/W2044894195","https://openalex.org/W2048820947","https://openalex.org/W2049561732","https://openalex.org/W2054585537","https://openalex.org/W2058240764","https://openalex.org/W2059435624","https://openalex.org/W2062550101","https://openalex.org/W2064456373","https://openalex.org/W2065297540","https://openalex.org/W2081173707","https://openalex.org/W2090544108","https://openalex.org/W2096636360","https://openalex.org/W2099593662","https://openalex.org/W2107217366","https://openalex.org/W2108232656","https://openalex.org/W2112271657","https://openalex.org/W2113029345","https://openalex.org/W2115091574","https://openalex.org/W2128990851","https://openalex.org/W2131988161","https://openalex.org/W2133820736","https://openalex.org/W2135003933","https://openalex.org/W2137922094","https://openalex.org/W2141664020","https://openalex.org/W2142224528","https://openalex.org/W2143826757","https://openalex.org/W2146494230","https://openalex.org/W2147497140","https://openalex.org/W2149016364","https://openalex.org/W2151521059","https://openalex.org/W2156123119","https://openalex.org/W2161819990","https://openalex.org/W2162218551","https://openalex.org/W2165307897","https://openalex.org/W2171205311","https://openalex.org/W2289207600","https://openalex.org/W2296356821","https://openalex.org/W2296385533","https://openalex.org/W2329985799","https://openalex.org/W2399501438","https://openalex.org/W2427881153","https://openalex.org/W2482392012","https://openalex.org/W2516555774","https://openalex.org/W2600604505","https://openalex.org/W2798257756","https://openalex.org/W2798534591","https://openalex.org/W2949623849","https://openalex.org/W2951748345","https://openalex.org/W3006111093","https://openalex.org/W3009115175","https://openalex.org/W3102051120","https://openalex.org/W3196769885","https://openalex.org/W4206273864","https://openalex.org/W4236470048","https://openalex.org/W4365800106","https://openalex.org/W4388297583"],"related_works":["https://openalex.org/W4250831671","https://openalex.org/W2230606337","https://openalex.org/W2089869689","https://openalex.org/W4211055164","https://openalex.org/W2067790096","https://openalex.org/W4388681848","https://openalex.org/W2078952919","https://openalex.org/W2945666329","https://openalex.org/W2617651062","https://openalex.org/W5179970"],"abstract_inverted_index":{"Sampling-based":[0],"algorithms":[1],"are":[2,145,153],"viewed":[3],"as":[4,190,192],"practical":[5],"solutions":[6],"for":[7,37,70,99,120],"high-dimensional":[8],"motion":[9],"planning.":[10],"Recent":[11],"progress":[12],"has":[13],"taken":[14],"advantage":[15],"of":[16,53,73,77,168,178],"random":[17],"geometric":[18],"graph":[19],"theory":[20],"to":[21,65,93,103,116,155,158],"show":[22],"how":[23,115],"asymptotic":[24,118],"optimality":[25,95,119],"can":[26],"also":[27],"be":[28],"achieved":[29],"with":[30,39],"these":[31],"methods.":[32],"Achieving":[33],"this":[34,142],"desirable":[35],"property":[36],"systems":[38,100,188],"dynamics":[40],"requires":[41],"solving":[42],"a":[43,67,71,104,129,165],"two-point":[44],"boundary":[45],"value":[46],"problem":[47],"(BVP)":[48],"in":[49],"the":[50,54,110,179],"state":[51],"space":[52],"underlying":[55],"dynamical":[56,75,187],"system.":[57],"It":[58],"is":[59,181],"difficult,":[60],"however,":[61],"if":[62],"not":[63],"impractical,":[64],"generate":[66],"BVP":[68,105],"solver":[69],"variety":[72],"important":[74],"models":[76],"robots":[78],"or":[79],"physically":[80,193],"simulated":[81,194],"ones.":[82],"Thus,":[83],"an":[84],"open":[85],"challenge":[86],"was":[87,90],"whether":[88],"it":[89],"even":[91],"possible":[92],"achieve":[94,117],"guarantees":[96],"when":[97],"planning":[98,122],"without":[101],"access":[102],"solver.":[106],"This":[107],"work":[108],"resolves":[109],"above":[111],"question":[112],"and":[113,138,148],"describes":[114],"kinodynamic":[121],"using":[123,186],"incremental":[124],"sampling-based":[125],"planners":[126,180],"by":[127,183],"introducing":[128],"new":[130,134],"rigorous":[131],"framework.":[132],"Two":[133],"methods,":[135],"STABLE_SPARSE_RRT":[136],"(SST)":[137],"SST*,":[139],"result":[140],"from":[141],"analysis,":[143],"which":[144,170],"asymptotically":[146],"near-optimal":[147],"optimal,":[149],"respectively.":[150],"The":[151,175],"techniques":[152],"shown":[154],"converge":[156],"fast":[157],"high-quality":[159],"paths,":[160],"while":[161],"they":[162],"maintain":[163],"only":[164],"sparse":[166],"set":[167],"samples,":[169],"makes":[171],"them":[172],"computationally":[173],"efficient.":[174],"good":[176],"performance":[177],"confirmed":[182],"experimental":[184],"results":[185],"benchmarks,":[189],"well":[191],"robots.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":23},{"year":2024,"cited_by_count":26},{"year":2023,"cited_by_count":36},{"year":2022,"cited_by_count":31},{"year":2021,"cited_by_count":32},{"year":2020,"cited_by_count":26},{"year":2019,"cited_by_count":28},{"year":2018,"cited_by_count":26},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2}],"updated_date":"2026-06-19T15:47:20.252518","created_date":"2025-10-10T00:00:00"}