Erratum: Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning with Forward Propagation (IEEE Robotics and Automation Letters (2019) 4:2 (277-283) DOI: 10.1109/LRA.2018.2888947)

Michal Kleinbort; Kiril Solovey; Zakary Littlefield; Kostas E. Bekris; Dan Halperin

doi:10.1109/LRA.2023.3236496

Erratum: Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning with Forward Propagation (IEEE Robotics and Automation Letters (2019) 4:2 (277-283) DOI: 10.1109/LRA.2018.2888947)

Michal Kleinbort^*, Kiril Solovey, Zakary Littlefield, Kostas E. Bekris, Dan Halperin

^*Corresponding author for this work

School of Computer Science

Research output: Contribution to journal › Comment/debate

Abstract

Our original publication Kleinbort et al. (2019) contains an error in the analysis of the case of the kinodynamic RRT. Here, we rectify the problem by modifying the proof of Theorem 2, which, in particular, necessitated a revision of Lemma 3. Briefly, the original (and erroneous) proof of Theorem 2 used a sequence of equal-size balls. The correction uses a sequence of balls of increasing radii. We emphasize that the correction is in Lemma 3 and the proof of Theorem 2 only. The main results remain unchanged.

Original language	English
Pages (from-to)	1149-1150
Number of pages	2
Journal	IEEE Robotics and Automation Letters
Volume	8
Issue number	2
DOIs	https://doi.org/10.1109/LRA.2023.3236496
State	Published - 1 Feb 2023

Access to Document

10.1109/LRA.2023.3236496

Cite this

Kleinbort, M., Solovey, K., Littlefield, Z., Bekris, K. E., & Halperin, D. (2023). Erratum: Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning with Forward Propagation (IEEE Robotics and Automation Letters (2019) 4:2 (277-283) DOI: 10.1109/LRA.2018.2888947). IEEE Robotics and Automation Letters, 8(2), 1149-1150. https://doi.org/10.1109/LRA.2023.3236496

@article{76a1e956a33c495793d7dafdd9644a53,

title = "Erratum: Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning with Forward Propagation (IEEE Robotics and Automation Letters (2019) 4:2 (277-283) DOI: 10.1109/LRA.2018.2888947)",

abstract = "Our original publication Kleinbort et al. (2019) contains an error in the analysis of the case of the kinodynamic RRT. Here, we rectify the problem by modifying the proof of Theorem 2, which, in particular, necessitated a revision of Lemma 3. Briefly, the original (and erroneous) proof of Theorem 2 used a sequence of equal-size balls. The correction uses a sequence of balls of increasing radii. We emphasize that the correction is in Lemma 3 and the proof of Theorem 2 only. The main results remain unchanged.",

author = "Michal Kleinbort and Kiril Solovey and Zakary Littlefield and Bekris, {Kostas E.} and Dan Halperin",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.",

year = "2023",

month = feb,

day = "1",

doi = "10.1109/LRA.2023.3236496",

language = "אנגלית",

volume = "8",

pages = "1149--1150",

journal = "IEEE Robotics and Automation Letters",

issn = "2377-3766",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "2",

}

Kleinbort, M, Solovey, K, Littlefield, Z, Bekris, KE & Halperin, D 2023, 'Erratum: Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning with Forward Propagation (IEEE Robotics and Automation Letters (2019) 4:2 (277-283) DOI: 10.1109/LRA.2018.2888947)', IEEE Robotics and Automation Letters, vol. 8, no. 2, pp. 1149-1150. https://doi.org/10.1109/LRA.2023.3236496

Erratum: Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning with Forward Propagation (IEEE Robotics and Automation Letters (2019) 4:2 (277-283) DOI: 10.1109/LRA.2018.2888947). / Kleinbort, Michal; Solovey, Kiril; Littlefield, Zakary et al.
In: IEEE Robotics and Automation Letters, Vol. 8, No. 2, 01.02.2023, p. 1149-1150.

Research output: Contribution to journal › Comment/debate

TY - JOUR

T1 - Erratum

T2 - Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning with Forward Propagation (IEEE Robotics and Automation Letters (2019) 4:2 (277-283) DOI: 10.1109/LRA.2018.2888947)

AU - Kleinbort, Michal

AU - Solovey, Kiril

AU - Littlefield, Zakary

AU - Bekris, Kostas E.

AU - Halperin, Dan

PY - 2023/2/1

Y1 - 2023/2/1

N2 - Our original publication Kleinbort et al. (2019) contains an error in the analysis of the case of the kinodynamic RRT. Here, we rectify the problem by modifying the proof of Theorem 2, which, in particular, necessitated a revision of Lemma 3. Briefly, the original (and erroneous) proof of Theorem 2 used a sequence of equal-size balls. The correction uses a sequence of balls of increasing radii. We emphasize that the correction is in Lemma 3 and the proof of Theorem 2 only. The main results remain unchanged.

AB - Our original publication Kleinbort et al. (2019) contains an error in the analysis of the case of the kinodynamic RRT. Here, we rectify the problem by modifying the proof of Theorem 2, which, in particular, necessitated a revision of Lemma 3. Briefly, the original (and erroneous) proof of Theorem 2 used a sequence of equal-size balls. The correction uses a sequence of balls of increasing radii. We emphasize that the correction is in Lemma 3 and the proof of Theorem 2 only. The main results remain unchanged.

UR - http://www.scopus.com/inward/record.url?scp=85147679446&partnerID=8YFLogxK

U2 - 10.1109/LRA.2023.3236496

DO - 10.1109/LRA.2023.3236496

M3 - ???researchoutput.researchoutputtypes.contributiontojournal.comment???

AN - SCOPUS:85147679446

SN - 2377-3766

VL - 8

SP - 1149

EP - 1150

JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

IS - 2

ER -

Erratum: Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning with Forward Propagation (IEEE Robotics and Automation Letters (2019) 4:2 (277-283) DOI: 10.1109/LRA.2018.2888947)

Abstract

Access to Document

Other files and links

Fingerprint

Cite this