{"id":"https://openalex.org/W7162642293","doi":"https://doi.org/10.48550/arxiv.2605.27699","title":"AURA: Asymptotically Optimal Uncertainty-Robust Replanning Algorithm for Kinodynamic Systems","display_name":"AURA: Asymptotically Optimal Uncertainty-Robust Replanning Algorithm for Kinodynamic Systems","publication_year":2026,"publication_date":"2026-05-26","ids":{"openalex":"https://openalex.org/W7162642293","doi":"https://doi.org/10.48550/arxiv.2605.27699"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.27699","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.27699","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":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.27699","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137210459","display_name":"Seyedali Golestaneh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Golestaneh, Seyedali","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5098821276","display_name":"Zhuoyun Zhong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhong, Zhuoyun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137278321","display_name":"Donghyung Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Donghyung","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137237332","display_name":"Constantinos Chamzas","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chamzas, Constantinos","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":0.8608999848365784,"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":0.8608999848365784,"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/T12290","display_name":"Human Motion and Animation","score":0.017100000753998756,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.014299999922513962,"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/trajectory","display_name":"Trajectory","score":0.7688999772071838},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7034000158309937},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5486999750137329},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5338000059127808},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.5152000188827515},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4977000057697296},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.486299991607666},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4790000021457672}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7688999772071838},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7034000158309937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6373999714851379},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5486999750137329},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5338000059127808},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.5152000188827515},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4977000057697296},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.486299991607666},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4790000021457672},{"id":"https://openalex.org/C181789720","wikidata":"https://www.wikidata.org/wiki/Q4812191","display_name":"Asymptotically optimal algorithm","level":2,"score":0.43709999322891235},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.42399999499320984},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4072999954223633},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.39239999651908875},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.38920000195503235},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38580000400543213},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38370001316070557},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.382999986410141},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.3725000023841858},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31709998846054077},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.30649998784065247},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.28450000286102295},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2667999863624573},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.257099986076355},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.25110000371932983}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.27699","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.27699","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":"doi:10.48550/arxiv.2605.27699","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.27699","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":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4158589243888855}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Sampling-based":[0],"motion":[1,11,52],"planners":[2,22],"offer":[3],"a":[4,69,97],"practical":[5],"and":[6,82,106,112,150,164],"scalable":[7],"approach":[8,144],"to":[9,29,55,89,121,130],"kinodynamic":[10],"planning,":[12],"notably":[13],"for":[14],"high-dimensional,":[15],"underactuated,":[16],"or":[17],"non-holonomic":[18],"systems.":[19],"However,":[20],"these":[21,64,126],"are":[23],"typically":[24],"used":[25],"offline,":[26],"requiring":[27],"execution":[28,92,138],"begin":[30],"only":[31],"after":[32],"the":[33,40,49,58,90,103,108],"trajectory":[34,42,109,160],"has":[35],"been":[36],"computed.":[37],"In":[38,61,87],"addition,":[39],"planned":[41],"may":[43],"not":[44],"be":[45],"accurately":[46],"tracked":[47],"in":[48,147,159],"presence":[50],"of":[51],"uncertainty,":[53],"leading":[54],"deviations":[56],"from":[57],"nominal":[59],"solution.":[60],"this":[62,94],"work,":[63],"limitations":[65],"were":[66],"addressed":[67],"within":[68],"unified":[70],"framework,":[71],"\\method,":[72],"an":[73,113],"asymptotically-optimal":[74],"meta-planner":[75],"framework":[76,95],"that":[77,100,116],"improves":[78],"both":[79,148],"path":[80],"quality":[81],"tracking":[83,123,162],"performance":[84,166],"during":[85,110],"execution.":[86],"addition":[88],"main":[91],"thread,":[93],"comprises":[96],"replanning":[98],"method":[99],"continuously":[101],"explores":[102],"state":[104],"space":[105],"refines":[107,117],"execution,":[111],"optimization":[114],"process":[115],"future":[118],"control":[119],"inputs":[120],"reduce":[122],"error.":[124],"Together,":[125],"components":[127],"enable":[128],"\\method":[129],"leverage":[131],"asymptotically":[132],"optimal":[133],"planning":[134],"online":[135],"while":[136],"improving":[137],"accuracy":[139],"under":[140],"uncertainty.":[141],"The":[142],"proposed":[143],"is":[145],"evaluated":[146],"simulation":[149],"real-world":[151],"environments":[152],"across":[153],"multiple":[154],"systems,":[155],"demonstrating":[156],"consistent":[157],"improvements":[158],"quality,":[161],"accuracy,":[163],"overall":[165],"compared":[167],"with":[168],"baseline":[169],"methods.":[170]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-29T00:00:00"}