{"id":"https://openalex.org/W7134040775","doi":"https://doi.org/10.48550/arxiv.2603.04547","title":"Many-RRT*: Robust Joint-Space Trajectory Planning for Serial Manipulators","display_name":"Many-RRT*: Robust Joint-Space Trajectory Planning for Serial Manipulators","publication_year":2026,"publication_date":"2026-03-04","ids":{"openalex":"https://openalex.org/W7134040775","doi":"https://doi.org/10.48550/arxiv.2603.04547"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.04547","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128256477","display_name":"Theodore M. Belmont","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Belmont, Theodore M.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025425768","display_name":"Benjamin A. Christie","orcid":"https://orcid.org/0000-0003-1918-0892"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Christie, Benjamin A.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5055421257","display_name":"Anton Netchaev","orcid":"https://orcid.org/0000-0002-8463-1779"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Netchaev, Anton","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8212000131607056,"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":0.8212000131607056,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.03680000081658363,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.03350000083446503,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/motion-planning","display_name":"Motion planning","score":0.607699990272522},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.512499988079071},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5048999786376953},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4925999939441681},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.4896000027656555},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4893999993801117},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4453999996185303},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.40869998931884766}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.607699990272522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5619000196456909},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5482000112533569},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.512499988079071},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5048999786376953},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4925999939441681},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.4896000027656555},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4893999993801117},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4453999996185303},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.40869998931884766},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.37369999289512634},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.37070000171661377},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3621000051498413},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.351500004529953},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.35019999742507935},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3425000011920929},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3176000118255615},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3050000071525574},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.304500013589859},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.29249998927116394},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2809000015258789},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.26820001006126404},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2551000118255615}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.04547","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.04547","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.04547","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.04547","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6334044337272644,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0],"rapid":[1],"advancement":[2],"of":[3,12,98,180],"high":[4],"degree-of-freedom":[5],"(DoF)":[6],"serial":[7],"manipulators":[8],"necessitates":[9],"the":[10,24,34,63,70,166,177],"use":[11],"swift,":[13],"sampling-based":[14,21],"motion":[15],"planners":[16,22],"for":[17,62],"high-dimensional":[18],"spaces.":[19],"While":[20],"like":[23],"Rapidly-Exploring":[25],"Random":[26],"Tree":[27],"(RRT)":[28],"are":[29],"widely":[30],"used,":[31],"planning":[32,91],"in":[33,77,105,165],"manipulator's":[35],"joint":[36,72],"space":[37,73],"presents":[38],"significant":[39],"challenges":[40],"due":[41],"to":[42,53,83,102],"non-invertible":[43],"forward":[44],"kinematics.":[45],"A":[46],"single":[47,123],"task-space":[48],"end-effector":[49],"pose":[50],"can":[51,75],"correspond":[52],"multiple":[54,103,109],"configuration-space":[55],"states,":[56],"creating":[57],"a":[58,85,122,170],"multi-arm":[59],"bandit":[60],"problem":[61],"planner.":[64],"In":[65],"complex":[66],"environments,":[67],"simply":[68],"choosing":[69],"wrong":[71],"goal":[74,118],"result":[76],"suboptimal":[78,135],"trajectories":[79,161],"or":[80],"even":[81],"failure":[82],"find":[84],"viable":[86],"plan.":[87],"To":[88],"address":[89],"this":[90],"problem,":[92],"we":[93],"propose":[94],"Many-RRT*:":[95],"an":[96],"extension":[97],"RRT*-Connect":[99],"that":[100,128,156],"plans":[101],"goals":[104],"parallel.":[106],"By":[107],"generating":[108],"IK":[110,136],"solutions":[111],"and":[112,143,151],"growing":[113],"independent":[114],"trees":[115],"from":[116],"these":[117],"configurations":[119],"simultaneously":[120],"alongside":[121],"start":[124],"tree,":[125],"Many-RRT*":[126,157],"ensures":[127],"computational":[129],"effort":[130],"is":[131],"not":[132],"wasted":[133],"on":[134,188],"solutions.":[137],"This":[138],"approach":[139],"maintains":[140],"robust":[141],"convergence":[142],"asymptotic":[144],"optimality.":[145],"Experimental":[146],"evaluations":[147],"across":[148],"robot":[149],"morphologies":[150],"diverse":[152],"obstacle":[153],"environments":[154],"demonstrate":[155],"provides":[158],"higher":[159,172],"quality":[160],"(44.5%":[162],"lower":[163],"cost":[164],"same":[167],"runtime)":[168],"with":[169],"significantly":[171],"success":[173],"rate":[174],"(100%":[175],"vs.":[176],"next":[178],"best":[179],"1.6%)":[181],"than":[182],"previous":[183],"RRT":[184],"iterations":[185],"without":[186],"compromising":[187],"runtime":[189],"performance.":[190]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-07T00:00:00"}
