{"id":"https://openalex.org/W3043256667","doi":"https://doi.org/10.1177/02783649231209337","title":"Multilevel motion planning: A fiber bundle formulation","display_name":"Multilevel motion planning: A fiber bundle formulation","publication_year":2023,"publication_date":"2023-11-09","ids":{"openalex":"https://openalex.org/W3043256667","doi":"https://doi.org/10.1177/02783649231209337","mag":"3043256667"},"language":"en","primary_location":{"id":"doi:10.1177/02783649231209337","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649231209337","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1177/02783649231209337","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024839170","display_name":"Andreas Orthey","orcid":"https://orcid.org/0000-0002-1478-1405"},"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"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Andreas Orthey","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, Stuttgart, Germany","Technical University of Berlin, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Technical University of Berlin, Stuttgart, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102571330","display_name":"Sohaib Akbar","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sohaib Akbar","raw_affiliation_strings":["University of Stuttgart, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"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"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Toussaint","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, Stuttgart, Germany","Technical University of Berlin, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Technical University of Berlin, Stuttgart, Germany","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5024839170"],"corresponding_institution_ids":["https://openalex.org/I4210135521","https://openalex.org/I4577782"],"apc_list":null,"apc_paid":null,"fwci":1.3529,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.82358867,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"43","issue":"1","first_page":"3","last_page":"33"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9764000177383423,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9538000226020813,"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/fiber-bundle","display_name":"Fiber bundle","score":0.8621570467948914},{"id":"https://openalex.org/keywords/bundle","display_name":"Bundle","score":0.6638117432594299},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6240575313568115},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5808578133583069},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.5018987655639648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5004091262817383},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4751198887825012},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.46813520789146423},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44211143255233765},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37141114473342896},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.34141650795936584},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24258551001548767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19284853339195251},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11839306354522705}],"concepts":[{"id":"https://openalex.org/C146710177","wikidata":"https://www.wikidata.org/wiki/Q1154996","display_name":"Fiber bundle","level":3,"score":0.8621570467948914},{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.6638117432594299},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6240575313568115},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5808578133583069},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.5018987655639648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5004091262817383},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4751198887825012},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.46813520789146423},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44211143255233765},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37141114473342896},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.34141650795936584},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24258551001548767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19284853339195251},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11839306354522705},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649231209337","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649231209337","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1177/02783649231209337","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649231209337","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5099999904632568,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320308269","display_name":"Alexander von Humboldt-Stiftung","ror":"https://ror.org/012kf4317"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":180,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W171554355","https://openalex.org/W181534116","https://openalex.org/W289820477","https://openalex.org/W1140243306","https://openalex.org/W1424654272","https://openalex.org/W1485487406","https://openalex.org/W1495392417","https://openalex.org/W1502517891","https://openalex.org/W1512234690","https://openalex.org/W1516027685","https://openalex.org/W1536373029","https://openalex.org/W1554056522","https://openalex.org/W1554725362","https://openalex.org/W1554944419","https://openalex.org/W1557324374","https://openalex.org/W1574072560","https://openalex.org/W1643513940","https://openalex.org/W1646038686","https://openalex.org/W1712772804","https://openalex.org/W1775783412","https://openalex.org/W1777480005","https://openalex.org/W1837811515","https://openalex.org/W1864112212","https://openalex.org/W1890389053","https://openalex.org/W1903715478","https://openalex.org/W1937587174","https://openalex.org/W1963969090","https://openalex.org/W1969483458","https://openalex.org/W1970154235","https://openalex.org/W1970845222","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W1986375212","https://openalex.org/W1991482882","https://openalex.org/W1992787855","https://openalex.org/W2000359213","https://openalex.org/W2002548850","https://openalex.org/W2007193228","https://openalex.org/W2013452693","https://openalex.org/W2014945091","https://openalex.org/W2015149365","https://openalex.org/W2026941035","https://openalex.org/W2028513167","https://openalex.org/W2033013465","https://openalex.org/W2034801091","https://openalex.org/W2038131922","https://openalex.org/W2039391127","https://openalex.org/W2066011869","https://openalex.org/W2072839015","https://openalex.org/W2075065376","https://openalex.org/W2081848225","https://openalex.org/W2083417417","https://openalex.org/W2083755543","https://openalex.org/W2084501107","https://openalex.org/W2091579301","https://openalex.org/W2101043416","https://openalex.org/W2102792266","https://openalex.org/W2103776982","https://openalex.org/W2107535513","https://openalex.org/W2108232656","https://openalex.org/W2108998686","https://openalex.org/W2109212155","https://openalex.org/W2109835212","https://openalex.org/W2110762409","https://openalex.org/W2115091574","https://openalex.org/W2115257338","https://openalex.org/W2117828438","https://openalex.org/W2118937343","https://openalex.org/W2122410182","https://openalex.org/W2123030512","https://openalex.org/W2125968961","https://openalex.org/W2128561641","https://openalex.org/W2128990851","https://openalex.org/W2132990760","https://openalex.org/W2136323427","https://openalex.org/W2138419444","https://openalex.org/W2141664020","https://openalex.org/W2146008005","https://openalex.org/W2150500908","https://openalex.org/W2152128591","https://openalex.org/W2156123119","https://openalex.org/W2157543942","https://openalex.org/W2157833381","https://openalex.org/W2159722616","https://openalex.org/W2161298439","https://openalex.org/W2161473822","https://openalex.org/W2163178194","https://openalex.org/W2166462345","https://openalex.org/W2171266831","https://openalex.org/W2255088495","https://openalex.org/W2313274380","https://openalex.org/W2335799662","https://openalex.org/W2338205278","https://openalex.org/W2338687951","https://openalex.org/W2345626358","https://openalex.org/W2399501438","https://openalex.org/W2403583150","https://openalex.org/W2411856611","https://openalex.org/W2412909029","https://openalex.org/W2414947275","https://openalex.org/W2466591533","https://openalex.org/W2482392012","https://openalex.org/W2525125412","https://openalex.org/W2565969279","https://openalex.org/W2573261522","https://openalex.org/W2596119063","https://openalex.org/W2600643276","https://openalex.org/W2611243847","https://openalex.org/W2620625173","https://openalex.org/W2739341730","https://openalex.org/W2783874371","https://openalex.org/W2786891404","https://openalex.org/W2787894218","https://openalex.org/W2805883505","https://openalex.org/W2807035426","https://openalex.org/W2883418145","https://openalex.org/W2885010347","https://openalex.org/W2886374915","https://openalex.org/W2889786920","https://openalex.org/W2903998385","https://openalex.org/W2912551019","https://openalex.org/W2926786214","https://openalex.org/W2948542527","https://openalex.org/W2949117375","https://openalex.org/W2955697550","https://openalex.org/W2959716684","https://openalex.org/W2962793397","https://openalex.org/W2963130659","https://openalex.org/W2963300337","https://openalex.org/W2963492582","https://openalex.org/W2963700156","https://openalex.org/W2964057747","https://openalex.org/W2964208980","https://openalex.org/W2966173166","https://openalex.org/W2967333821","https://openalex.org/W2967737732","https://openalex.org/W2971244547","https://openalex.org/W2976375674","https://openalex.org/W2976419033","https://openalex.org/W2987233852","https://openalex.org/W2994835187","https://openalex.org/W2997947190","https://openalex.org/W2998646936","https://openalex.org/W3003664035","https://openalex.org/W3004407706","https://openalex.org/W3010263680","https://openalex.org/W3010591503","https://openalex.org/W3011316078","https://openalex.org/W3014460461","https://openalex.org/W3021764030","https://openalex.org/W3022776424","https://openalex.org/W3032916997","https://openalex.org/W3037469527","https://openalex.org/W3038064687","https://openalex.org/W3039141704","https://openalex.org/W3090581846","https://openalex.org/W3091295346","https://openalex.org/W3098336417","https://openalex.org/W3099686205","https://openalex.org/W3101750213","https://openalex.org/W3102121895","https://openalex.org/W3102509322","https://openalex.org/W3106159194","https://openalex.org/W3147437556","https://openalex.org/W3162628365","https://openalex.org/W4205937065","https://openalex.org/W4231043281","https://openalex.org/W4234539992","https://openalex.org/W4241903089","https://openalex.org/W4244247490","https://openalex.org/W4246876444","https://openalex.org/W4250589301","https://openalex.org/W4255243782","https://openalex.org/W4255975175","https://openalex.org/W4293203252","https://openalex.org/W4293570422","https://openalex.org/W4295535217","https://openalex.org/W4300449797","https://openalex.org/W4376551357"],"related_works":["https://openalex.org/W2031036731","https://openalex.org/W2326458079","https://openalex.org/W4240564646","https://openalex.org/W168697621","https://openalex.org/W2119919461","https://openalex.org/W2141129703","https://openalex.org/W4252043533","https://openalex.org/W2349013766","https://openalex.org/W1997125070","https://openalex.org/W2036508296"],"abstract_inverted_index":{"High-dimensional":[0],"motion":[1,82,191],"planning":[2,83],"problems":[3],"can":[4],"often":[5],"be":[6,130],"solved":[7],"significantly":[8],"faster":[9],"by":[10],"using":[11,42,200],"multilevel":[12,22,190,198],"abstractions.":[13],"While":[14],"there":[15],"are":[16,105,127],"various":[17],"ways":[18],"to":[19,49,107,129,162,178,180],"formally":[20],"capture":[21],"abstractions,":[23],"we":[24,74,142],"formulate":[25],"them":[26,144],"in":[27,56],"terms":[28,57],"of":[29,38,58,94,100,151,165,183,189,196,203],"fiber":[30,95,204],"bundles.":[31,205],"Fiber":[32],"bundles":[33,96],"essentially":[34],"describe":[35,51],"lower-dimensional":[36],"projections":[37],"the":[39,92,98,112,119,187,194,201],"state":[40,87],"space":[41,115,121],"local":[43],"product":[44],"spaces,":[45],"which":[46],"allows":[47],"us":[48],"concisely":[50],"and":[52,61,68,78,118,133,155,170,185,193],"derive":[53],"novel":[54,109],"algorithms":[55],"bundle":[59,62,101,110,140],"restrictions":[60],"sections.":[63],"Given":[64],"such":[65],"a":[66,69],"structure":[67,93],"corresponding":[70],"admissible":[71],"constraint":[72],"function,":[73],"develop":[75],"highly":[76],"efficient":[77],"asymptotically":[79,135],"optimal":[80],"sampling-based":[81,147],"methods":[84,90],"for":[85],"high-dimensional":[86,157],"spaces.":[88],"Those":[89,103],"exploit":[91],"through":[97],"use":[99],"primitives.":[102],"primitives":[104],"used":[106],"create":[108],"planners,":[111,141],"rapidly-exploring":[113],"quotient":[114,120],"trees":[116],"(QRRT*),":[117],"roadmap":[122],"planner":[123],"(QMP*).":[124],"Both":[125],"planners":[126,148,192],"shown":[128],"probabilistically":[131],"complete":[132],"almost-surely":[134],"optimal.":[136],"To":[137],"evaluate":[138],"our":[139],"compare":[143],"against":[145],"classical":[146],"on":[149],"benchmarks":[150],"four":[152],"low-dimensional":[153],"scenarios,":[154,158],"eight":[156],"ranging":[159],"from":[160],"21":[161],"100":[163],"degrees":[164],"freedom,":[166],"including":[167],"multiple":[168],"robots":[169],"nonholonomic":[171],"constraints.":[172],"Our":[173],"findings":[174],"show":[175],"improvements":[176],"up":[177],"two":[179],"six":[181],"orders":[182],"magnitude":[184],"underline":[186],"efficiency":[188],"benefit":[195],"exploiting":[197],"abstractions":[199],"terminology":[202]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
