{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,25]],"date-time":"2026-04-25T14:52:28Z","timestamp":1777128748158,"version":"3.51.4"},"reference-count":66,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001659","name":"Deutsche Forschungsgemeinschaft","doi-asserted-by":"publisher","award":["448549715"],"award-info":[{"award-number":["448549715"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001659","name":"Deutsche Forschungsgemeinschaft","doi-asserted-by":"publisher","award":["EXC 2120\/1-390831618"],"award-info":[{"award-number":["EXC 2120\/1-390831618"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]},{"name":"German-Israeli Foundation for Scientific Research","award":["I-1491-407.6\/2019"],"award-info":[{"award-number":["I-1491-407.6\/2019"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2025]]},"DOI":"10.1109\/tro.2024.3502505","type":"journal-article","created":{"date-parts":[[2024,11,19]],"date-time":"2024-11-19T13:50:33Z","timestamp":1732024233000},"page":"2031-2049","source":"Crossref","is-referenced-by-count":10,"title":["iDb-A*: Iterative Search and Optimization for Optimal Kinodynamic Motion Planning"],"prefix":"10.1109","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6599-7302","authenticated-orcid":false,"given":"Joaquim","family":"Ortiz-Haro","sequence":"first","affiliation":[{"name":"Machines in Motion Laboratory, New York University, New York, NY, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0773-028X","authenticated-orcid":false,"given":"Wolfgang","family":"H\u00f6nig","sequence":"additional","affiliation":[{"name":"Technical University Berlin, Berlin, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9661-2751","authenticated-orcid":false,"given":"Valentin N.","family":"Hartmann","sequence":"additional","affiliation":[{"name":"Technical University Berlin, Berlin, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5487-6767","authenticated-orcid":false,"given":"Marc","family":"Toussaint","sequence":"additional","affiliation":[{"name":"Technical University Berlin, Berlin, Germany"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915614386"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593672"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067453"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094900"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909340445"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914528132"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794205"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-51547-2_15"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.5220\/0001143902220229"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593840"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981577"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094900"},{"key":"ref13","first-page":"1","article-title":"Efficient constrained path planning via search in state lattices","volume-title":"Proc. Int. Symp. Artif. Intell., Robot., Autom. Space","author":"Pivtoraiko","year":"2005"},{"key":"ref14","article-title":"ARA*: Anytime A* with provable bounds on sub-optimality","volume-title":"Proc. Int. Conf. Adv. Neural Inf. Process. Syst.","volume":"16","author":"Likhachev","year":"2003"},{"key":"ref15","article-title":"Differentially constrained motion planning with state lattice motion primitives","author":"Pivtoraiko","year":"2012"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561840"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-16595-0_14"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2602363"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197236"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811814"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1137\/1.9780898718577"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/s10107-004-0559-y"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1137\/s0036144504446096"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2022.3187542"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196673"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967788"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3067298"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-019-09830-x"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560836"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487615"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981732"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225177"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636754"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196802"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2931199"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2901898"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967815"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911406761"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/70.508439"},{"key":"ref40","article-title":"Rapidly-exploring random trees: A new tool for path planning","author":"LaValle","year":"1998"},{"key":"ref41","article-title":"Kinodynamic RRT*: Optimal motion planning for systems with linear differential constraints","author":"Webb","year":"2012"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2010.5717652"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.1019460"},{"key":"ref44","doi-asserted-by":"crossref","DOI":"10.1007\/BFb0036070","volume-title":"Robot Motion Planning and Control","volume":"229","author":"Laumond","year":"1998"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980409"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914558129"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139620"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1609\/socs.v2i1.18190"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812206"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2009.2028959"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2819195"},{"key":"ref52","volume-title":"Differential Dynamic Programming","author":"Jacobson","year":"1970"},{"key":"ref53","first-page":"5054","article-title":"Stagewise implementations of sequential quadratic programming for model-predictive control","volume-title":"Proc. IEEE Int. Conf. Robot. Automat.","author":"Webb","year":"2013"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1007\/BF00934463"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794205"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1137\/10081085X"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1137\/S1052623403426556"},{"key":"ref58","article-title":"Benchmarking sampling-, search-, and optimization-based approaches for time-optimal kinodynamic mobile robot motion planning","volume-title":"Proc. Workshop Evaluating Motion Plan. Perform., Metrics, Tools, Datasets, Exp. Des. Workshop IROS","author":"Hnig","year":"2022"},{"key":"ref59","article-title":"Towards benchmarking sampling-based kinodynamic motion planners with ml4kp","volume-title":"Proc. Workshop Evaluating Motion Plan. Perform., Metrics, Tools, Datasets, Exp. Des. Workshop IROS","author":"Granados","year":"2022"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"key":"ref61","volume-title":"Underactuated Robotics","author":"Tedrake","year":"2016"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2795654"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2927938"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2205651"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-16595-0_12"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2010.5717042"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8860\/10778592\/10758212.pdf?arnumber=10758212","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,20]],"date-time":"2026-01-20T23:26:54Z","timestamp":1768951614000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10758212\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"references-count":66,"URL":"https:\/\/doi.org\/10.1109\/tro.2024.3502505","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025]]}}}