{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,27]],"date-time":"2026-02-27T15:31:33Z","timestamp":1772206293131,"version":"3.50.1"},"reference-count":160,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2023,11,9]],"date-time":"2023-11-09T00:00:00Z","timestamp":1699488000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100005156","name":"Alexander von Humboldt Foundation","doi-asserted-by":"crossref","id":[{"id":"10.13039\/100005156","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Max-Planck Society"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2024,1]]},"abstract":"<jats:p> High-dimensional motion planning problems can often be solved significantly faster by using multilevel abstractions. While there are various ways to formally capture multilevel abstractions, we formulate them in terms of fiber bundles. Fiber bundles essentially describe lower-dimensional projections of the state space using local product spaces, which allows us to concisely describe and derive novel algorithms in terms of bundle restrictions and bundle sections. Given such a structure and a corresponding admissible constraint function, we develop highly efficient and asymptotically optimal sampling-based motion planning methods for high-dimensional state spaces. Those methods exploit the structure of fiber bundles through the use of bundle primitives. Those primitives are used to create novel bundle planners, the rapidly-exploring quotient space trees (QRRT*), and the quotient space roadmap planner (QMP*). Both planners are shown to be probabilistically complete and almost-surely asymptotically optimal. To evaluate our bundle planners, we compare them against classical sampling-based planners on benchmarks of four low-dimensional scenarios, and eight high-dimensional scenarios, ranging from 21 to 100 degrees of freedom, including multiple robots and nonholonomic constraints. Our findings show improvements up to two to six orders of magnitude and underline the efficiency of multilevel motion planners and the benefit of exploiting multilevel abstractions using the terminology of fiber bundles. <\/jats:p>","DOI":"10.1177\/02783649231209337","type":"journal-article","created":{"date-parts":[[2023,11,10]],"date-time":"2023-11-10T04:53:02Z","timestamp":1699591982000},"page":"3-33","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":13,"title":["Multilevel motion planning: A fiber bundle formulation"],"prefix":"10.1177","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1478-1405","authenticated-orcid":false,"given":"Andreas","family":"Orthey","sequence":"first","affiliation":[{"name":"Max Planck Institute for Intelligent Systems, Stuttgart, Germany"},{"name":"Technical University of Berlin, Stuttgart, Germany"}]},{"given":"Sohaib","family":"Akbar","sequence":"additional","affiliation":[{"name":"University of Stuttgart, Stuttgart, Germany"}]},{"given":"Marc","family":"Toussaint","sequence":"additional","affiliation":[{"name":"Max Planck Institute for Intelligent Systems, Stuttgart, Germany"},{"name":"Technical University of Berlin, Stuttgart, Germany"}]}],"member":"179","published-online":{"date-parts":[[2023,11,9]]},"reference":[{"key":"bibr1-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915594029"},{"key":"bibr2-02783649231209337","first-page":"155","volume-title":"Workshop on the Algorithmic Foundations of Robotics","author":"Amato NM","year":"1998"},{"key":"bibr3-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630906"},{"key":"bibr4-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.509216"},{"key":"bibr5-02783649231209337","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/9780262028615.001.0001"},{"key":"bibr6-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545045"},{"key":"bibr7-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/s10472-018-9596-8"},{"key":"bibr8-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9304-1"},{"key":"bibr9-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915625345"},{"key":"bibr10-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400301"},{"key":"bibr11-02783649231209337","first-page":"521","volume":"1","author":"Bohlin R","year":"2000","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"bibr12-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1999.772447"},{"key":"bibr13-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"bibr14-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1609\/icaps.v30i1.6746"},{"key":"bibr15-02783649231209337","first-page":"1481","volume":"2","author":"Branicky MS","year":"2001","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"bibr16-02783649231209337","volume-title":"Sheaf Theory","volume":"170","author":"Bredon GE","year":"2012"},{"key":"bibr17-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906063979"},{"key":"bibr18-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1017\/S0962492904000182"},{"key":"bibr19-02783649231209337","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2005.I.015"},{"key":"bibr20-02783649231209337","volume-title":"The Complexity of Robot Motion Planning","author":"Canny JF","year":"1988"},{"key":"bibr21-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.915464"},{"key":"bibr22-02783649231209337","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.058"},{"key":"bibr23-02783649231209337","doi-asserted-by":"publisher","DOI":"10.21236\/ADA609276"},{"key":"bibr24-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-43089-4_41"},{"key":"bibr25-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913498292"},{"key":"bibr26-02783649231209337","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2020.XVI.003"},{"key":"bibr27-02783649231209337","doi-asserted-by":"publisher","DOI":"10.2307\/2372560"},{"key":"bibr28-02783649231209337","volume-title":"Heuristic Search: Theory and Applications","author":"Edelkamp S","year":"2011"},{"key":"bibr29-02783649231209337","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2016.XII.036"},{"key":"bibr30-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/BF01840371"},{"key":"bibr31-02783649231209337","doi-asserted-by":"publisher","DOI":"10.4171\/054"},{"key":"bibr32-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1142\/9789813226579_0005"},{"key":"bibr33-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/70.611297"},{"key":"bibr34-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942976"},{"key":"bibr35-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2830331"},{"key":"bibr36-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919890396"},{"key":"bibr37-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1017\/S096249291500001X"},{"key":"bibr38-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630908"},{"key":"bibr39-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225228"},{"key":"bibr40-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1609\/icaps.v23i1.13569"},{"key":"bibr41-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989551"},{"key":"bibr42-02783649231209337","volume-title":"A Quotient Space Formulation for Statistical Analysis of Graphical Data","author":"Guo X","year":"2019"},{"key":"bibr43-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2019.01.001"},{"key":"bibr44-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/TSSC.1968.300136"},{"key":"bibr45-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341502"},{"key":"bibr46-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-387-84858-7"},{"key":"bibr47-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139603"},{"key":"bibr48-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1145\/3341105.3373916"},{"key":"bibr49-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853613"},{"key":"bibr50-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300405"},{"key":"bibr51-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1142\/S0218195999000285"},{"key":"bibr52-02783649231209337","first-page":"4420","volume":"3","author":"Hsu D","year":"2003","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"bibr53-02783649231209337","first-page":"1255","volume-title":"IEEE International Conference on Robotics and Automation","author":"Hsu D","year":"2006"},{"key":"bibr54-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-4008-0"},{"key":"bibr55-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2901898"},{"key":"bibr56-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913482017"},{"key":"bibr57-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2222272"},{"key":"bibr58-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908098411"},{"key":"bibr59-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2049527"},{"key":"bibr60-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915577958"},{"key":"bibr61-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917714338"},{"key":"bibr62-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911406761"},{"key":"bibr63-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/70.508439"},{"key":"bibr64-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139512"},{"key":"bibr65-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919868530"},{"key":"bibr66-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2888947"},{"key":"bibr67-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1016\/j.cobeha.2018.11.005"},{"key":"bibr68-02783649231209337","first-page":"995","volume":"2","author":"Kuffner JJ","year":"2000","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"bibr69-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094740"},{"key":"bibr70-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196920"},{"key":"bibr71-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487117"},{"key":"bibr72-02783649231209337","volume-title":"Algorithmic Foundations of Robotics VI","author":"Ladd AM","year":"2004"},{"key":"bibr73-02783649231209337","volume-title":"Rapidly-exploring Random Trees: A New Tool for Path Planning","author":"Lavalle SM","year":"1998"},{"key":"bibr74-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"key":"bibr75-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067453"},{"key":"bibr76-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-387-21752-9"},{"key":"bibr77-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1145\/1150402.1150479"},{"key":"bibr78-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915614386"},{"key":"bibr79-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/TC.1983.1676196"},{"key":"bibr80-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1145\/359156.359164"},{"key":"bibr81-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919890408"},{"key":"bibr82-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v33i01.33017643"},{"key":"bibr83-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1609\/icaps.v29i1.3543"},{"key":"bibr84-02783649231209337","volume-title":"Workshop on the Algorithmic Foundations of Robotics","author":"Mavrogiannis CI","year":"2016"},{"key":"bibr85-02783649231209337","unstructured":"M\u00f6bius AF (1858). Werke 2: 519."},{"key":"bibr86-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2015.2448276"},{"key":"bibr87-02783649231209337","volume-title":"Topology","author":"Munkres J","year":"2000"},{"key":"bibr88-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1002\/jcc.25132"},{"key":"bibr89-02783649231209337","volume-title":"Rapidly-Exploring Quotient-Space Trees: Motion Planning Using Sequential Simplifications","author":"Orthey A","year":"2019"},{"key":"bibr90-02783649231209337","volume-title":"Workshop on the Algorithmic Foundations of Robotics","author":"Orthey A","year":"2020"},{"key":"bibr91-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593554"},{"key":"bibr92-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2958524"},{"key":"bibr93-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915594679"},{"key":"bibr94-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487439"},{"key":"bibr95-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2958525"},{"key":"bibr96-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/9.863598"},{"key":"bibr97-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/21.259697"},{"key":"bibr98-02783649231209337","volume-title":"Heuristics: Intelligent Search Strategies for Computer Problem Solving","author":"Pearl J","year":"1984"},{"key":"bibr99-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914547786"},{"key":"bibr100-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2819195"},{"key":"bibr101-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364916675419"},{"key":"bibr102-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2424031"},{"key":"bibr103-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2047820"},{"key":"bibr104-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1002\/cav.1688"},{"key":"bibr105-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915586713"},{"key":"bibr106-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487113"},{"key":"bibr107-02783649231209337","volume-title":"PhD thesis Real-time Modification of Collision-free Paths","author":"Quinlan S","year":"1994"},{"key":"bibr108-02783649231209337","first-page":"5","volume":"37","author":"Reid W","year":"2019","journal-title":"Journal of Field Robotics"},{"key":"bibr109-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-43089-4_42"},{"key":"bibr110-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-28872-7_37"},{"key":"bibr111-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2340191"},{"key":"bibr112-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696586"},{"key":"bibr113-02783649231209337","volume-title":"Relaxation in optimization theory and variational calculus","volume":"4","author":"Roub\u00ed\u010dek T","year":"2011"},{"key":"bibr114-02783649231209337","volume-title":"Artificial Intelligence: A Modern Approach","author":"Russell S","year":"2002"},{"key":"bibr115-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-36460-9_27"},{"key":"bibr116-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-36460-9_27"},{"key":"bibr117-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-005-4748-1"},{"key":"bibr118-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1145\/3318164"},{"key":"bibr119-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2539377"},{"key":"bibr120-02783649231209337","first-page":"1711","volume-title":"Proceedings of the 19th International Conference on Autonomous Agents and MultiAgent Systems","author":"Salzman O","year":"2020"},{"key":"bibr121-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-36279-8_19"},{"key":"bibr122-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1016\/0196-8858(83)90014-3"},{"key":"bibr123-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700803"},{"key":"bibr124-02783649231209337","volume-title":"Geometric Fundamentals of Robotics","author":"Selig JM","year":"2004"},{"key":"bibr125-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-019-09832-9"},{"key":"bibr126-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1163\/156855300741960"},{"key":"bibr127-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/70.988973"},{"key":"bibr128-02783649231209337","volume-title":"The Sciences of the Artificial","author":"Simon HA","year":"1969"},{"key":"bibr129-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-41610-1_166-1"},{"key":"bibr130-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913506268"},{"key":"bibr131-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919859627"},{"key":"bibr132-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915615688"},{"key":"bibr133-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1515\/9781400883875"},{"key":"bibr134-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196580"},{"key":"bibr135-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-00312-7_28"},{"key":"bibr136-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2160466"},{"key":"bibr137-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2205651"},{"key":"bibr138-02783649231209337","volume-title":"On probabilistic completeness and expected complexity for probabilistic path planning","volume":"1996","author":"Svestka P","year":"1996"},{"key":"bibr139-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(97)00033-X"},{"key":"bibr140-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2819658"},{"key":"bibr141-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989464"},{"key":"bibr142-02783649231209337","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.044"},{"key":"bibr143-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-55084-8"},{"key":"bibr144-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650826"},{"key":"bibr145-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905060132"},{"key":"bibr146-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545306"},{"key":"bibr147-02783649231209337","doi-asserted-by":"publisher","DOI":"10.24963\/ijcai.2018\/674"},{"key":"bibr148-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794009"},{"key":"bibr149-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968578"},{"key":"bibr150-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2014.11.001"},{"key":"bibr151-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1999.772448"},{"key":"bibr152-02783649231209337","volume-title":"Analysis of Motion Planning by Sampling in Subspaces of Progressively Increasing Dimension","author":"Xanthidis MP","year":"2018"},{"key":"bibr153-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.824640"},{"key":"bibr154-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570709"},{"key":"bibr155-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1544954"},{"key":"bibr156-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794300"},{"key":"bibr157-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2977379"},{"key":"bibr158-02783649231209337","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2012.VIII.059"},{"key":"bibr159-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2009.5379545"},{"key":"bibr160-02783649231209337","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543787"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649231209337","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/02783649231209337","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649231209337","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,4]],"date-time":"2025-03-04T01:16:21Z","timestamp":1741050981000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/02783649231209337"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,11,9]]},"references-count":160,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2024,1]]}},"alternative-id":["10.1177\/02783649231209337"],"URL":"https:\/\/doi.org\/10.1177\/02783649231209337","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,11,9]]}}}