{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T09:54:27Z","timestamp":1766138067965,"version":"3.37.3"},"reference-count":78,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"1","license":[{"start":{"date-parts":[[2023,2,1]],"date-time":"2023-02-01T00:00:00Z","timestamp":1675209600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2023,2,1]],"date-time":"2023-02-01T00:00:00Z","timestamp":1675209600000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2023,2,1]],"date-time":"2023-02-01T00:00:00Z","timestamp":1675209600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,2,1]],"date-time":"2023-02-01T00:00:00Z","timestamp":1675209600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"NASA Space Technology Research Fellowship","award":["80NSSC17K0163"],"award-info":[{"award-number":["80NSSC17K0163"]}]},{"name":"NSF IIS","award":["2008720"],"award-info":[{"award-number":["2008720"]}]},{"name":"Rice University Funds"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2023,2]]},"DOI":"10.1109\/tro.2022.3197080","type":"journal-article","created":{"date-parts":[[2022,8,23]],"date-time":"2022-08-23T19:48:03Z","timestamp":1661284083000},"page":"128-146","source":"Crossref","is-referenced-by-count":10,"title":["Scaling Multimodal Planning: Using Experience and Informing Discrete Search"],"prefix":"10.1109","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3896-5110","authenticated-orcid":false,"given":"Zachary","family":"Kingston","sequence":"first","affiliation":[{"name":"Department of Computer Science, Rice University, Houston, TX, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0699-8038","authenticated-orcid":false,"given":"Lydia E.","family":"Kavraki","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Rice University, Houston, TX, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-060117-104848"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979830"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ARSO.2017.8025204"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910386985"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630814"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-43089-4_34"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139284"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794317"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9315-y"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2000.895219"},{"issue":"7\/8","key":"ref11","doi-asserted-by":"crossref","first-page":"729","DOI":"10.1177\/0278364904045471","article-title":"Manipulation planning with probabilistic roadmaps","volume":"32","author":"Simon","year":"2004","journal-title":"Int. J. Robot. Res."},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908097884"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919868530"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2047820"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197545"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636236"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1_36"},{"key":"ref18","first-page":"109","article-title":"Two manipulation planning algorithms","volume-title":"Proc. Int. Workshop Algorithmic Found. Robot.","author":"Alami","year":"1994"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1994.351231"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1994.351317"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/70.611297"},{"volume-title":"Principles of Robot Motion: Theory, Algorithms, and Implementation","year":"2005","author":"Choset","key":"ref22"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"key":"ref24","doi-asserted-by":"crossref","first-page":"139","DOI":"10.1007\/978-3-319-32552-1_7","article-title":"Motion for manipulation tasks","volume-title":"Springer Handbook of Robotics","author":"Kavraki","year":"2016"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913488805"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914528132"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910396389"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-060117-105226"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570712"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2005.I.015"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793933"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2969145"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224742"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594027"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919848837"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-29363-9_17"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9440-5"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-091420-084139"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794009"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918761570"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906063979"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759083"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989462"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793824"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908098447"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-36279-8_23"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1014838"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1043977"},{"key":"ref49","first-page":"895","article-title":"A robot task planner that merges symbolic and geometric reasoning","volume-title":"Proc. Eur. Conf. Artif. Intell.","author":"Cambon","year":"2004"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1007\/11008941_11"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-00312-7_37"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918802962"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1609\/icaps.v30i1.6739"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-00065-7_36"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989390"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-95459-8_47"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139022"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2011.942115"},{"volume-title":"A Comprehensive Introduction to Differential Geometry","year":"1999","author":"Spivak","key":"ref59"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-387-21752-9"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-35447-5"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631156"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1080\/2151237X.2005.10129202"},{"key":"ref64","first-page":"1","article-title":"Handling implicit and explicit constraints in manipulation planning","volume-title":"Proc. Robot.: Sci. Syst","author":"Mirabel","year":"2018"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(71)90010-5"},{"key":"ref66","first-page":"324","article-title":"ADL: Exploring the middle ground between STRIPS and the situation calculus","volume-title":"Proc. Int. Conf. Princ. Knowl. Representation Reasoning","volume":"1","author":"Pednault","year":"1989"},{"article-title":"PDDL  The planning domain definition language","year":"1998","author":"McDermott","key":"ref67"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1613\/jair.1129"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2005.05.004"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2205651"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981698"},{"key":"ref72","first-page":"1","article-title":"Fetch and freight: Standard platforms for service robot applications","volume-title":"Proc. Workshop Autom. Mobile Serv. Robots","author":"Wise","year":"2016"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907079280"},{"key":"ref74","first-page":"1930","article-title":"Logic-geometric programming: An optimization-based approach to combined task and motion planning","volume-title":"Proc. Int. Joint Conf. Artif. Intell","author":"Toussaint","year":"2015"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.044"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793260"},{"key":"ref77","article-title":"Learning manifolds for sequential motion planning","author":"Fernndez","year":"2020","journal-title":"Robot.: Sci. Syst. Learn. Task Motion Plan. Workshop"},{"key":"ref78","first-page":"449","article-title":"Kinodynamic motion planning by interior-exterior cell exploration","volume-title":"Proc. Int. Workshop Algorithmic Found. Robot.","author":"ucan","year":"2008"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielam\/8860\/10040949\/9865999-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/10040949\/09865999.pdf?arnumber=9865999","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,2,1]],"date-time":"2024-02-01T12:36:50Z","timestamp":1706791010000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9865999\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,2]]},"references-count":78,"journal-issue":{"issue":"1"},"URL":"https:\/\/doi.org\/10.1109\/tro.2022.3197080","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"type":"print","value":"1552-3098"},{"type":"electronic","value":"1941-0468"}],"subject":[],"published":{"date-parts":[[2023,2]]}}}