{"id":"https://openalex.org/W2295092757","doi":"https://doi.org/10.1007/978-3-319-08338-4_5","title":"Self-learning RRT* Algorithm for Mobile Robot Motion Planning in Complex Environments","display_name":"Self-learning RRT* Algorithm for Mobile Robot Motion Planning in Complex Environments","publication_year":2015,"publication_date":"2015-09-02","ids":{"openalex":"https://openalex.org/W2295092757","doi":"https://doi.org/10.1007/978-3-319-08338-4_5","mag":"2295092757"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-319-08338-4_5","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-08338-4_5","pdf_url":null,"source":{"id":"https://openalex.org/S2764905038","display_name":"Advances in intelligent systems and computing","issn_l":"2194-5357","issn":["2194-5357","2194-5365"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advances in Intelligent Systems and Computing","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100437262","display_name":"Xu Zhang","orcid":"https://orcid.org/0000-0002-8098-8893"},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]},{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Xu Zhang","raw_affiliation_strings":["Institute for Factory Automation and Production Systems (FAPS), University of Erlangen-Nuremberg, Erlangen, 91058, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Factory Automation and Production Systems (FAPS), University of Erlangen-Nuremberg, Erlangen, 91058, Germany","institution_ids":["https://openalex.org/I4210157642","https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030717908","display_name":"Felix L\u00fctteke","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]},{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix L\u00fctteke","raw_affiliation_strings":["Institute for Factory Automation and Production Systems (FAPS), University of Erlangen-Nuremberg, Erlangen, 91058, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Factory Automation and Production Systems (FAPS), University of Erlangen-Nuremberg, Erlangen, 91058, Germany","institution_ids":["https://openalex.org/I4210157642","https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083228464","display_name":"Christian Ziegler","orcid":"https://orcid.org/0000-0002-6247-1671"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]},{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Ziegler","raw_affiliation_strings":["Institute for Factory Automation and Production Systems (FAPS), University of Erlangen-Nuremberg, Erlangen, 91058, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Factory Automation and Production Systems (FAPS), University of Erlangen-Nuremberg, Erlangen, 91058, Germany","institution_ids":["https://openalex.org/I4210157642","https://openalex.org/I181369854"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059197069","display_name":"J\u00f6rg Franke","orcid":"https://orcid.org/0000-0003-0700-2028"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]},{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J\u00f6rg Franke","raw_affiliation_strings":["Institute for Factory Automation and Production Systems (FAPS), University of Erlangen-Nuremberg, Erlangen, 91058, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Factory Automation and Production Systems (FAPS), University of Erlangen-Nuremberg, Erlangen, 91058, Germany","institution_ids":["https://openalex.org/I4210157642","https://openalex.org/I181369854"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100437262"],"corresponding_institution_ids":["https://openalex.org/I181369854","https://openalex.org/I4210157642"],"apc_list":null,"apc_paid":null,"fwci":0.3732,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.57471632,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"57","last_page":"69"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.709980309009552},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.6189455389976501},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6089745163917542},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5559104084968567},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5474536418914795},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.5271586775779724},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4527485966682434},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4376071095466614},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4069952368736267},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3516615033149719},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3314580023288727},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.16777414083480835},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14983531832695007}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.709980309009552},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.6189455389976501},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6089745163917542},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5559104084968567},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5474536418914795},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.5271586775779724},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4527485966682434},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4376071095466614},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4069952368736267},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3516615033149719},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3314580023288727},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.16777414083480835},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14983531832695007},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-319-08338-4_5","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-08338-4_5","pdf_url":null,"source":{"id":"https://openalex.org/S2764905038","display_name":"Advances in intelligent systems and computing","issn_l":"2194-5357","issn":["2194-5357","2194-5365"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advances in Intelligent Systems and Computing","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6600000262260437,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1521785144","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1986210666","https://openalex.org/W2000359213","https://openalex.org/W2018740177","https://openalex.org/W2106473816","https://openalex.org/W2112271657","https://openalex.org/W2118356379","https://openalex.org/W2128990851","https://openalex.org/W2133820736","https://openalex.org/W2143826757","https://openalex.org/W2163739504","https://openalex.org/W2204582418","https://openalex.org/W2406290095","https://openalex.org/W3140434919"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W1987694097","https://openalex.org/W2161428574","https://openalex.org/W3158818664","https://openalex.org/W2077416514","https://openalex.org/W2797949337","https://openalex.org/W2118356379"],"abstract_inverted_index":null,"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
