{"id":"https://openalex.org/W4386038562","doi":"https://doi.org/10.1109/tro.2023.3297018","title":"Safely: Safe Stochastic Motion Planning Under Constrained Sensing via Duality","display_name":"Safely: Safe Stochastic Motion Planning Under Constrained Sensing via Duality","publication_year":2023,"publication_date":"2023-08-21","ids":{"openalex":"https://openalex.org/W4386038562","doi":"https://doi.org/10.1109/tro.2023.3297018"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3297018","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/tro.2023.3297018","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103067990","display_name":"Michael Hibbard","orcid":"https://orcid.org/0000-0002-4697-4551"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Hibbard","raw_affiliation_strings":["Department of Aerospace and Engineering Mechanics, University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-4697-4551","affiliations":[{"raw_affiliation_string":"Department of Aerospace and Engineering Mechanics, University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050718717","display_name":"Abraham P. Vinod","orcid":"https://orcid.org/0000-0002-7955-9629"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abraham P. Vinod","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7955-9629","affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051891425","display_name":"Jesse Quattrociocchi","orcid":"https://orcid.org/0009-0003-0830-9758"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jesse Quattrociocchi","raw_affiliation_strings":["Department of Aerospace and Engineering Mechanics, University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0009-0003-0830-9758","affiliations":[{"raw_affiliation_string":"Department of Aerospace and Engineering Mechanics, University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068441112","display_name":"Ufuk Topcu","orcid":"https://orcid.org/0000-0003-0819-9985"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ufuk Topcu","raw_affiliation_strings":["Department of Aerospace and Engineering Mechanics, University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0003-0819-9985","affiliations":[{"raw_affiliation_string":"Department of Aerospace and Engineering Mechanics, University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":0.2581,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.64132048,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"39","issue":"5","first_page":"3464","last_page":"3478"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9983000159263611,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9983000159263611,"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":0.9958000183105469,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6770950555801392},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5724909901618958},{"id":"https://openalex.org/keywords/duality","display_name":"Duality (order theory)","score":0.5101409554481506},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4874098598957062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47175294160842896},{"id":"https://openalex.org/keywords/backtracking","display_name":"Backtracking","score":0.444301038980484},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4410150945186615},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4405137002468109},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43518033623695374},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3804929852485657},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35566234588623047},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3014174699783325},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.13688310980796814}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6770950555801392},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5724909901618958},{"id":"https://openalex.org/C2778023678","wikidata":"https://www.wikidata.org/wiki/Q554403","display_name":"Duality (order theory)","level":2,"score":0.5101409554481506},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4874098598957062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47175294160842896},{"id":"https://openalex.org/C156884757","wikidata":"https://www.wikidata.org/wiki/Q798554","display_name":"Backtracking","level":2,"score":0.444301038980484},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4410150945186615},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4405137002468109},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43518033623695374},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3804929852485657},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35566234588623047},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3014174699783325},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.13688310980796814},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3297018","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/tro.2023.3297018","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G7377845663","display_name":null,"funder_award_id":"FA9550-19-1-0169","funder_id":"https://openalex.org/F4320338294","funder_display_name":"Air Force Research Laboratory"}],"funders":[{"id":"https://openalex.org/F4320338294","display_name":"Air Force Research Laboratory","ror":"https://ror.org/02e2egq70"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1502922572","https://openalex.org/W1601378499","https://openalex.org/W1988994102","https://openalex.org/W2072195747","https://openalex.org/W2073008742","https://openalex.org/W2101485019","https://openalex.org/W2123283036","https://openalex.org/W2127520982","https://openalex.org/W2129516068","https://openalex.org/W2149416133","https://openalex.org/W2171072057","https://openalex.org/W2238582461","https://openalex.org/W2294586855","https://openalex.org/W2571302414","https://openalex.org/W2769646558","https://openalex.org/W2772821934","https://openalex.org/W2842089854","https://openalex.org/W2911421980","https://openalex.org/W2945031664","https://openalex.org/W2962948942","https://openalex.org/W3047406640","https://openalex.org/W3101798601","https://openalex.org/W3157685993","https://openalex.org/W3195439150","https://openalex.org/W3207108176","https://openalex.org/W3209013485","https://openalex.org/W4206530644","https://openalex.org/W4210566578","https://openalex.org/W4231002530","https://openalex.org/W4250589301","https://openalex.org/W4288364392","https://openalex.org/W4297825594","https://openalex.org/W6629804754","https://openalex.org/W6696497002","https://openalex.org/W6761342191","https://openalex.org/W6803330903"],"related_works":["https://openalex.org/W2760348722","https://openalex.org/W2783885583","https://openalex.org/W2120095724","https://openalex.org/W2368326437","https://openalex.org/W1631221657","https://openalex.org/W2357479099","https://openalex.org/W2364309619","https://openalex.org/W1525406239","https://openalex.org/W2371864976","https://openalex.org/W804484174"],"abstract_inverted_index":{"Consider":[0],"a":[1,44,52,62,100,141],"robot":[2,56,132,151],"operating":[3],"in":[4],"an":[5],"uncertain":[6],"environment":[7],"with":[8,108,134],"stochastic,":[9],"dynamic":[10],"obstacles.":[11],"Despite":[12],"the":[13,55,78,82,86,104,109,113,128,131,137,149,155],"clear":[14],"benefits":[15],"for":[16,54],"trajectory":[17,53],"optimization,":[18],"it":[19],"is":[20,139],"often":[21],"hard":[22],"to":[23,34,57,70,96],"keep":[24],"track":[25],"of":[26,81,115,130,136,148,157],"each":[27,73],"obstacle":[28],"at":[29,72,144],"every":[30,145],"time":[31,74,146],"step":[32,75,147],"due":[33],"sensing":[35,79],"and":[36,93,112,163],"hardware":[37,164],"limitations.":[38],"We":[39,84,122,153],"introduce":[40],"the$\\mathtt":[41,158],"{Safely}{}$motion":[42,159],"planner,":[43],"receding-horizon":[45],"control":[46],"framework,":[47],"that":[48,66,127],"simultaneously":[49],"synthesizes":[50],"both":[51],"follow":[58],"as":[59,61],"well":[60],"sensor":[63],"selection":[64],"strategy":[65],"prescribes":[67],"trajectory-relevant":[68],"obstacles":[69,95,138],"measure":[71],"while":[76],"respecting":[77],"constraints":[80],"robot.":[83],"perform":[85],"motion":[87],"planning":[88],"using":[89],"sequential":[90],"quadratic":[91],"programming,":[92],"prescribe":[94],"sense":[97],"based":[98],"on":[99],"novel":[101],"connection":[102],"between":[103],"duality":[105],"information":[106],"associated":[107],"convex":[110],"subproblems":[111],"effect":[114],"uncertainty":[116],"reduction":[117],"through":[118,161],"Kalman":[119],"filter":[120],"updates.":[121],"guarantee":[123],"safety":[124],"by":[125],"ensuring":[126],"probability":[129],"colliding":[133],"any":[135],"below":[140],"prescribed":[142],"threshold":[143],"planned":[150],"trajectory.":[152],"demonstrate":[154],"efficacy":[156],"planner":[160],"software":[162],"experiments.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
