{"id":"https://openalex.org/W3008363175","doi":"https://doi.org/10.1177/02783649211048931","title":"Reactive navigation in partially familiar planar environments using semantic perceptual feedback","display_name":"Reactive navigation in partially familiar planar environments using semantic perceptual feedback","publication_year":2021,"publication_date":"2021-10-22","ids":{"openalex":"https://openalex.org/W3008363175","doi":"https://doi.org/10.1177/02783649211048931","mag":"3008363175"},"language":"en","primary_location":{"id":"doi:10.1177/02783649211048931","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649211048931","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2002.08946","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007454832","display_name":"Vasileios Vasilopoulos","orcid":"https://orcid.org/0000-0003-4681-2410"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]},{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vasileios Vasilopoulos","raw_affiliation_strings":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","#N#               * University of Pennsylvania"],"raw_orcid":"https://orcid.org/0000-0003-4681-2410","affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"#N#               * University of Pennsylvania","institution_ids":["https://openalex.org/I36788626","https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052269532","display_name":"Georgios Pavlakos","orcid":"https://orcid.org/0000-0001-5821-1909"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]},{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Georgios Pavlakos","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences,UC Berkeley, Berkeley, CA, USA","#N#               * University of Pennsylvania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences,UC Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"#N#               * University of Pennsylvania","institution_ids":["https://openalex.org/I36788626","https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049609650","display_name":"Karl Schmeckpeper","orcid":"https://orcid.org/0000-0003-4989-2022"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karl Schmeckpeper","raw_affiliation_strings":["Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA, USA","University of California\u2013Berkeley"],"raw_orcid":"https://orcid.org/0000-0003-4989-2022","affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"University of California\u2013Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050660826","display_name":"Kostas Daniilidis","orcid":"https://orcid.org/0000-0003-0498-0758"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]},{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas Daniilidis","raw_affiliation_strings":["Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA, USA","#N#               * University of Pennsylvania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"#N#               * University of Pennsylvania","institution_ids":["https://openalex.org/I36788626","https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082032878","display_name":"Daniel E. Koditschek","orcid":"https://orcid.org/0000-0001-5188-1352"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]},{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel E. Koditschek","raw_affiliation_strings":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","#N#               * University of Pennsylvania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"#N#               * University of Pennsylvania","institution_ids":["https://openalex.org/I36788626","https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5007454832"],"corresponding_institution_ids":["https://openalex.org/I36788626","https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":0.3616,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.53730806,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"41","issue":"1","first_page":"85","last_page":"126"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9962000250816345,"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/robustness","display_name":"Robustness (evolution)","score":0.7848957180976868},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6983686089515686},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.60014808177948},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5631215572357178},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5234693288803101},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.500640869140625},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4515784978866577},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.41495394706726074},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3598332703113556},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3562812805175781},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.34363269805908203},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33065396547317505},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18548306822776794},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.12192454934120178}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7848957180976868},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6983686089515686},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.60014808177948},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5631215572357178},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5234693288803101},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.500640869140625},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4515784978866577},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.41495394706726074},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3598332703113556},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3562812805175781},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.34363269805908203},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33065396547317505},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18548306822776794},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.12192454934120178},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1177/02783649211048931","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649211048931","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:2002.08946","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.08946","pdf_url":"https://arxiv.org/pdf/2002.08946","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":"mag:3008363175","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2002.08946","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2002.08946","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2002.08946","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2002.08946","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.08946","pdf_url":"https://arxiv.org/pdf/2002.08946","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":[],"awards":[{"id":"https://openalex.org/G5877274225","display_name":null,"funder_award_id":"N00014-16-1-2817","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G879985583","display_name":null,"funder_award_id":"FA865015D1845 (subcontract 669737-1)","funder_id":"https://openalex.org/F4320338294","funder_display_name":"Air Force Research Laboratory"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338294","display_name":"Air Force Research Laboratory","ror":"https://ror.org/02e2egq70"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3008363175.pdf"},"referenced_works_count":91,"referenced_works":["https://openalex.org/W13151591","https://openalex.org/W121974122","https://openalex.org/W158662294","https://openalex.org/W192919555","https://openalex.org/W1037659875","https://openalex.org/W1526337814","https://openalex.org/W1543608798","https://openalex.org/W1816154721","https://openalex.org/W1893912098","https://openalex.org/W1963649406","https://openalex.org/W1968315983","https://openalex.org/W1981934656","https://openalex.org/W1983764986","https://openalex.org/W1993730936","https://openalex.org/W2000359213","https://openalex.org/W2002440441","https://openalex.org/W2014590262","https://openalex.org/W2028775179","https://openalex.org/W2031078227","https://openalex.org/W2036613704","https://openalex.org/W2037034267","https://openalex.org/W2041437464","https://openalex.org/W2043641592","https://openalex.org/W2044118667","https://openalex.org/W2051349034","https://openalex.org/W2066769138","https://openalex.org/W2068525213","https://openalex.org/W2069830673","https://openalex.org/W2074085128","https://openalex.org/W2077007971","https://openalex.org/W2081469022","https://openalex.org/W2094472302","https://openalex.org/W2094658339","https://openalex.org/W2103120971","https://openalex.org/W2110144538","https://openalex.org/W2114952079","https://openalex.org/W2118741873","https://openalex.org/W2122410182","https://openalex.org/W2125409550","https://openalex.org/W2128990851","https://openalex.org/W2129224530","https://openalex.org/W2130601649","https://openalex.org/W2131505299","https://openalex.org/W2140542425","https://openalex.org/W2141124675","https://openalex.org/W2170820436","https://openalex.org/W2171331791","https://openalex.org/W2182229738","https://openalex.org/W2232251213","https://openalex.org/W2290761674","https://openalex.org/W2293733856","https://openalex.org/W2307770531","https://openalex.org/W2335799662","https://openalex.org/W2409953911","https://openalex.org/W2557741120","https://openalex.org/W2593841437","https://openalex.org/W2600447016","https://openalex.org/W2735300570","https://openalex.org/W2739046895","https://openalex.org/W2739423245","https://openalex.org/W2748512037","https://openalex.org/W2766539609","https://openalex.org/W2771926486","https://openalex.org/W2772321112","https://openalex.org/W2790901254","https://openalex.org/W2796347433","https://openalex.org/W2807035426","https://openalex.org/W2884649505","https://openalex.org/W2890358241","https://openalex.org/W2890818510","https://openalex.org/W2891392570","https://openalex.org/W2898990223","https://openalex.org/W2901136733","https://openalex.org/W2903506349","https://openalex.org/W2912107695","https://openalex.org/W2949966526","https://openalex.org/W2951660448","https://openalex.org/W2962788405","https://openalex.org/W2962822210","https://openalex.org/W2963397319","https://openalex.org/W2963509551","https://openalex.org/W2974596055","https://openalex.org/W3029192705","https://openalex.org/W3035076408","https://openalex.org/W3091670144","https://openalex.org/W3097995488","https://openalex.org/W3173290313","https://openalex.org/W4235840289","https://openalex.org/W4250666038","https://openalex.org/W4255197300","https://openalex.org/W6815608828"],"related_works":["https://openalex.org/W2883732767","https://openalex.org/W2898990223","https://openalex.org/W2755259229","https://openalex.org/W2785340821","https://openalex.org/W63574109","https://openalex.org/W2788964439","https://openalex.org/W3093678301","https://openalex.org/W2184918714","https://openalex.org/W2890358241","https://openalex.org/W2887672964","https://openalex.org/W1510576764","https://openalex.org/W2587742116","https://openalex.org/W3104901003","https://openalex.org/W3043404468","https://openalex.org/W2404223054","https://openalex.org/W2186735349","https://openalex.org/W3197464299","https://openalex.org/W2891846153","https://openalex.org/W2082965709","https://openalex.org/W2772341554"],"abstract_inverted_index":{"This":[0],"article":[1],"solves":[2],"the":[3,57,66,87,99],"planar":[4],"navigation":[5],"problem":[6],"by":[7,107],"recourse":[8],"to":[9,28,49],"an":[10,36,50,109],"online":[11],"reactive":[12,94],"scheme":[13],"that":[14],"exploits":[15],"recent":[16],"advances":[17],"in":[18,33,123],"simultaneous":[19],"localization":[20],"and":[21,24,82,120],"mapping":[22],"(SLAM)":[23],"visual":[25],"object":[26],"recognition":[27],"recast":[29],"prior":[30],"geometric":[31],"knowledge":[32],"terms":[34],"of":[35,39,91,104],"offline":[37],"catalog":[38,67],"familiar":[40],"objects.":[41],"The":[42],"resulting":[43],"vector":[44],"field":[45],"planner":[46],"guarantees":[47],"convergence":[48],"arbitrarily":[51,62],"specified":[52],"goal,":[53],"avoiding":[54],"collisions":[55],"along":[56],"way":[58],"with":[59,113],"fixed":[60,73],"but":[61],"placed":[63],"instances":[64],"from":[65],"as":[68,70,77,96,98],"well":[69,83,97],"completely":[71],"unknown":[72],"obstacles":[74],"so":[75],"long":[76],"they":[78],"are":[79],"strongly":[80],"convex":[81],"separated.":[84],"We":[85],"illustrate":[86],"generic":[88],"robustness":[89],"properties":[90],"such":[92],"deterministic":[93],"planners":[95],"relatively":[100],"modest":[101],"computational":[102],"cost":[103],"this":[105],"algorithm":[106],"supplementing":[108],"extensive":[110],"numerical":[111],"study":[112],"physical":[114],"implementation":[115],"on":[116],"both":[117],"a":[118],"wheeled":[119],"legged":[121],"platform":[122],"different":[124],"settings.":[125]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
