{"id":"https://openalex.org/W2735300570","doi":"https://doi.org/10.1177/0278364918802962","title":"Sampling-based methods for factored task and motion planning","display_name":"Sampling-based methods for factored task and motion planning","publication_year":2018,"publication_date":"2018-10-10","ids":{"openalex":"https://openalex.org/W2735300570","doi":"https://doi.org/10.1177/0278364918802962","mag":"2735300570"},"language":"en","primary_location":{"id":"doi:10.1177/0278364918802962","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918802962","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1801.00680","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015917510","display_name":"Caelan Reed Garrett","orcid":"https://orcid.org/0000-0002-6474-1276"},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Caelan Reed Garrett","raw_affiliation_strings":["MIT CSAIL, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT CSAIL, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4405258931"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063238208","display_name":"Tom\u00e1s Lozano\u2010P\u00e9rez","orcid":"https://orcid.org/0000-0002-8657-2450"},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tom\u00e1s Lozano-P\u00e9rez","raw_affiliation_strings":["MIT CSAIL, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT CSAIL, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4405258931"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012862284","display_name":"Leslie Pack Kaelbling","orcid":null},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Leslie Pack Kaelbling","raw_affiliation_strings":["MIT CSAIL, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT CSAIL, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4405258931"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5015917510"],"corresponding_institution_ids":["https://openalex.org/I4405258931"],"apc_list":null,"apc_paid":null,"fwci":7.6513,"has_fulltext":false,"cited_by_count":82,"citation_normalized_percentile":{"value":0.97678477,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"37","issue":"13-14","first_page":"1796","last_page":"1825"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9977999925613403,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.5736821293830872},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.5265322327613831},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4857943058013916},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4825150668621063},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47578442096710205},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4725472629070282},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.46655911207199097},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45614784955978394},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.45282915234565735},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44908589124679565},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4432038366794586},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.42076390981674194},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32343727350234985},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.27348628640174866},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2560097277164459},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12907546758651733},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09591004252433777}],"concepts":[{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.5736821293830872},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.5265322327613831},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4857943058013916},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4825150668621063},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47578442096710205},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4725472629070282},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.46655911207199097},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45614784955978394},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.45282915234565735},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44908589124679565},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4432038366794586},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.42076390981674194},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32343727350234985},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.27348628640174866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2560097277164459},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12907546758651733},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09591004252433777},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364918802962","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918802962","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:arXiv.org:1801.00680","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1801.00680","pdf_url":"https://arxiv.org/pdf/1801.00680","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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"},{"id":"pmh:oai:dspace.mit.edu:1721.1/124490","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/124490","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1801.00680","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1801.00680","pdf_url":"https://arxiv.org/pdf/1801.00680","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7699999809265137,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1072749480","display_name":null,"funder_award_id":"FA9550-17","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"},{"id":"https://openalex.org/G1078063216","display_name":"RI: Small: A Systematic Approach to Robot Task and Motion Planning in Belief Space","funder_award_id":"1420316","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G1523888516","display_name":null,"funder_award_id":"FA9550-","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"},{"id":"https://openalex.org/G260750634","display_name":null,"funder_award_id":"FA9550-17-1","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"},{"id":"https://openalex.org/G2773019091","display_name":null,"funder_award_id":"FA9550-17-1-0165","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"},{"id":"https://openalex.org/G3526151021","display_name":"Graduate Research Fellowship Program","funder_award_id":"1122374","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3802117657","display_name":null,"funder_award_id":"N00014-14-1-0486","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G4406529996","display_name":"S&AS:INT: Integrated Reasoning, Planning and Acting for Household Robots","funder_award_id":"1723381","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4516764163","display_name":"NRI: Learning to Plan for New Robot Manipulation Tasks","funder_award_id":"1523767","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5809100787","display_name":null,"funder_award_id":"FA9550","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"},{"id":"https://openalex.org/G6098521345","display_name":null,"funder_award_id":"FA9550","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"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":81,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W74144133","https://openalex.org/W77797718","https://openalex.org/W106094172","https://openalex.org/W1424654272","https://openalex.org/W1475741780","https://openalex.org/W1494534478","https://openalex.org/W1508953807","https://openalex.org/W1520074715","https://openalex.org/W1545688112","https://openalex.org/W1553616171","https://openalex.org/W1558116630","https://openalex.org/W1592610110","https://openalex.org/W1601397300","https://openalex.org/W1852202999","https://openalex.org/W1964478285","https://openalex.org/W1971086298","https://openalex.org/W1989604857","https://openalex.org/W1990677634","https://openalex.org/W2004463571","https://openalex.org/W2022921915","https://openalex.org/W2031738727","https://openalex.org/W2041753526","https://openalex.org/W2044725657","https://openalex.org/W2044995998","https://openalex.org/W2045526507","https://openalex.org/W2050718309","https://openalex.org/W2057408106","https://openalex.org/W2075577325","https://openalex.org/W2096636360","https://openalex.org/W2100988719","https://openalex.org/W2104991009","https://openalex.org/W2117218135","https://openalex.org/W2122054842","https://openalex.org/W2128990851","https://openalex.org/W2132467020","https://openalex.org/W2134141465","https://openalex.org/W2134741043","https://openalex.org/W2135228018","https://openalex.org/W2135319191","https://openalex.org/W2137496616","https://openalex.org/W2141664020","https://openalex.org/W2141825555","https://openalex.org/W2141841102","https://openalex.org/W2143602574","https://openalex.org/W2148933384","https://openalex.org/W2152156200","https://openalex.org/W2157439141","https://openalex.org/W2159722616","https://openalex.org/W2161414194","https://openalex.org/W2171266831","https://openalex.org/W2289090521","https://openalex.org/W2293499200","https://openalex.org/W2293698677","https://openalex.org/W2337392266","https://openalex.org/W2402990501","https://openalex.org/W2403069916","https://openalex.org/W2407405831","https://openalex.org/W2418783521","https://openalex.org/W2468062401","https://openalex.org/W2490090381","https://openalex.org/W2525579820","https://openalex.org/W2569589396","https://openalex.org/W2611115574","https://openalex.org/W2611243847","https://openalex.org/W2623196617","https://openalex.org/W2739341730","https://openalex.org/W2963128534","https://openalex.org/W2999060662","https://openalex.org/W3022958460","https://openalex.org/W3098029877","https://openalex.org/W3101355526","https://openalex.org/W3104605181","https://openalex.org/W3149166261","https://openalex.org/W3189981105","https://openalex.org/W4206273864","https://openalex.org/W4236470048","https://openalex.org/W4240424600","https://openalex.org/W4255887083","https://openalex.org/W4297792526","https://openalex.org/W4366956087"],"related_works":["https://openalex.org/W4296209631","https://openalex.org/W2561617217","https://openalex.org/W2025378473","https://openalex.org/W2348909947","https://openalex.org/W4292672442","https://openalex.org/W2355801475","https://openalex.org/W2362101859","https://openalex.org/W2791431590","https://openalex.org/W408992594","https://openalex.org/W2115970849"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,7,38,61,72,96,136,150],"general-purpose":[4],"formulation":[5],"of":[6,10,33,40,68,98,138,146,152],"large":[8,66],"class":[9],"discrete-time":[11],"planning":[12,130,157],"problems,":[13],"with":[14,49,80],"hybrid":[15],"state":[16,25,42],"and":[17,43,63,155,162],"control-spaces,":[18],"as":[19,30,134],"factored":[20,77],"transition":[21,78],"systems.":[22],"Factoring":[23],"allows":[24],"transitions":[26],"to":[27,95,110,118],"be":[28,116],"described":[29],"the":[31,41,88,143],"intersection":[32],"several":[34,58],"constraints":[35,54],"each":[36],"affecting":[37],"subset":[39],"control":[44],"variables.":[45],"Robotic":[46],"manipulation":[47],"problems":[48,158],"many":[50],"movable":[51],"objects":[52],"involve":[53],"that":[55,101,114,132],"only":[56],"affect":[57],"variables":[59],"at":[60],"time":[62],"therefore":[64],"exhibit":[65],"amounts":[67],"factoring.":[69],"We":[70,124,141],"develop":[71],"theoretical":[73],"framework":[74,84],"for":[75],"solving":[76],"systems":[79],"sampling-based":[81],"algorithms.":[82],"The":[83],"characterizes":[85],"conditions":[86,109],"on":[87,121,149],"submanifold":[89],"in":[90],"which":[91],"solutions":[92],"lie,":[93],"leading":[94],"characterization":[97],"robust":[99],"feasibility":[100],"incorporates":[102],"dimensionality-reducing":[103],"constraints.":[104],"It":[105],"then":[106],"connects":[107],"those":[108],"corresponding":[111],"conditional":[112,139],"samplers":[113],"can":[115],"composed":[117],"produce":[119],"values":[120],"this":[122],"submanifold.":[123],"present":[125],"two":[126],"domain-independent,":[127],"probabilistically":[128],"complete":[129],"algorithms":[131,148],"take,":[133],"input,":[135],"set":[137,151],"samplers.":[140],"demonstrate":[142],"empirical":[144],"efficiency":[145],"these":[147],"challenging":[153],"task":[154],"motion":[156],"involving":[159],"picking,":[160],"placing,":[161],"pushing.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":19},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-16T13:24:37.021932","created_date":"2025-10-10T00:00:00"}
