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

School of Arts and Sciences, Computer Science

Research output: Contribution to journal › Comment/debate › peer-review

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 (US)
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 - Feb 1 2023

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Biomedical Engineering
Human-Computer Interaction
Mechanical Engineering
Computer Vision and Pattern Recognition
Computer Science Applications
Control and Optimization
Artificial Intelligence

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10.1109/LRA.2023.3236496

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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

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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.",

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doi = "10.1109/LRA.2023.3236496",

language = "English (US)",

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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 › peer-review

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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.

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JO - IEEE Robotics and Automation Letters

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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)

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