{"id":"https://openalex.org/W4414475528","doi":"https://doi.org/10.1007/s44443-025-00211-2","title":"Optimal rapidly-exploring random tree via discrete hierarchical exploration","display_name":"Optimal rapidly-exploring random tree via discrete hierarchical exploration","publication_year":2025,"publication_date":"2025-09-24","ids":{"openalex":"https://openalex.org/W4414475528","doi":"https://doi.org/10.1007/s44443-025-00211-2"},"language":"en","primary_location":{"id":"doi:10.1007/s44443-025-00211-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44443-025-00211-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s44443-025-00211-2.pdf","source":{"id":"https://openalex.org/S2764955546","display_name":"Journal of King Saud University - Computer and Information Sciences","issn_l":"1319-1578","issn":["1319-1578","2213-1248"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of King Saud University Computer and Information Sciences","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://link.springer.com/content/pdf/10.1007/s44443-025-00211-2.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5119718444","display_name":"Zeng Zhaoyang","orcid":null},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zeng Zhaoyang","raw_affiliation_strings":["Hubei Collaborative Innovation Center for High-Efficiency Utilization of Solar Energy, Hubei University of Technology, Wuhan, 430068, China"],"affiliations":[{"raw_affiliation_string":"Hubei Collaborative Innovation Center for High-Efficiency Utilization of Solar Energy, Hubei University of Technology, Wuhan, 430068, China","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062434239","display_name":"H. H. Bowen","orcid":null},"institutions":[{"id":"https://openalex.org/I13985625","display_name":"East China Jiaotong University","ror":"https://ror.org/05x2f1m38","country_code":"CN","type":"education","lineage":["https://openalex.org/I13985625"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hu Bowen","raw_affiliation_strings":["College of Tianyou, East China Jiaotong University, Nanchang, 330013, China"],"affiliations":[{"raw_affiliation_string":"College of Tianyou, East China Jiaotong University, Nanchang, 330013, China","institution_ids":["https://openalex.org/I13985625"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015709897","display_name":"Yufang Chang","orcid":"https://orcid.org/0000-0002-8481-0830"},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Yufang","raw_affiliation_strings":["Hubei Collaborative Innovation Center for High-Efficiency Utilization of Solar Energy, Hubei University of Technology, Wuhan, 430068, China"],"affiliations":[{"raw_affiliation_string":"Hubei Collaborative Innovation Center for High-Efficiency Utilization of Solar Energy, Hubei University of Technology, Wuhan, 430068, China","institution_ids":["https://openalex.org/I74525822"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5119718444"],"corresponding_institution_ids":["https://openalex.org/I74525822"],"apc_list":{"value":1350,"currency":"USD","value_usd":1350},"apc_paid":{"value":1350,"currency":"USD","value_usd":1350},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.24614606,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"37","issue":"8","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.6913999915122986},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.6624000072479248},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5974000096321106},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5967000126838684},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5005000233650208},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4887999892234802},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4147000014781952},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.38929998874664307}],"concepts":[{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.6913999915122986},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.6624000072479248},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5974000096321106},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5967000126838684},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5508999824523926},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5217999815940857},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5005000233650208},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4887999892234802},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4496000111103058},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4336000084877014},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4147000014781952},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.38929998874664307},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.36469998955726624},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3294999897480011},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.3190000057220459},{"id":"https://openalex.org/C153782549","wikidata":"https://www.wikidata.org/wiki/Q175116","display_name":"Discrete space","level":2,"score":0.3156000077724457},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.29989999532699585},{"id":"https://openalex.org/C144986985","wikidata":"https://www.wikidata.org/wiki/Q871236","display_name":"Hierarchical database model","level":2,"score":0.2994999885559082},{"id":"https://openalex.org/C108010975","wikidata":"https://www.wikidata.org/wiki/Q500094","display_name":"Pruning","level":2,"score":0.2872999906539917},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.27399998903274536},{"id":"https://openalex.org/C162392398","wikidata":"https://www.wikidata.org/wiki/Q272404","display_name":"Finite set","level":2,"score":0.26019999384880066},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.2587999999523163},{"id":"https://openalex.org/C130187892","wikidata":"https://www.wikidata.org/wiki/Q133327","display_name":"Spacetime","level":2,"score":0.2563999891281128}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s44443-025-00211-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44443-025-00211-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s44443-025-00211-2.pdf","source":{"id":"https://openalex.org/S2764955546","display_name":"Journal of King Saud University - Computer and Information Sciences","issn_l":"1319-1578","issn":["1319-1578","2213-1248"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of King Saud University Computer and Information Sciences","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:f11d775b2fb847438fa53baa043c6713","is_oa":true,"landing_page_url":"https://doaj.org/article/f11d775b2fb847438fa53baa043c6713","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of King Saud University: Computer and Information Sciences, Vol 37, Iss 8, Pp 1-23 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s44443-025-00211-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44443-025-00211-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s44443-025-00211-2.pdf","source":{"id":"https://openalex.org/S2764955546","display_name":"Journal of King Saud University - Computer and Information Sciences","issn_l":"1319-1578","issn":["1319-1578","2213-1248"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of King Saud University Computer and Information Sciences","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2397974928","display_name":null,"funder_award_id":"62473133","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4414475528.pdf"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W1814533834","https://openalex.org/W1854270966","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W2015542852","https://openalex.org/W2069612046","https://openalex.org/W2084501107","https://openalex.org/W2086188904","https://openalex.org/W2138339216","https://openalex.org/W2141310965","https://openalex.org/W2146500120","https://openalex.org/W2169528473","https://openalex.org/W2294295227","https://openalex.org/W2345111710","https://openalex.org/W2790472381","https://openalex.org/W2806422435","https://openalex.org/W2909449485","https://openalex.org/W2963428623","https://openalex.org/W3016164434","https://openalex.org/W3103346840","https://openalex.org/W3124827602","https://openalex.org/W3125536643","https://openalex.org/W3151566977","https://openalex.org/W3181323247","https://openalex.org/W4225677151","https://openalex.org/W4236251699","https://openalex.org/W4295934683","https://openalex.org/W4304480790","https://openalex.org/W4367358488","https://openalex.org/W4377289394","https://openalex.org/W4385213009","https://openalex.org/W4389459319","https://openalex.org/W4389879579","https://openalex.org/W4400733426","https://openalex.org/W4400945061","https://openalex.org/W4404582219","https://openalex.org/W4405785533","https://openalex.org/W4405941581","https://openalex.org/W4408017252","https://openalex.org/W4408519569","https://openalex.org/W4410040546"],"related_works":[],"abstract_inverted_index":{"To":[0,52],"address":[1],"the":[2,62,75,80],"trade-off":[3],"between":[4],"timeliness":[5],"and":[6,101],"optimality":[7],"in":[8],"complex-environment":[9],"path":[10,77],"planning,":[11],"this":[12],"work":[13],"proposes":[14],"DHE-RRT*,":[15],"an":[16],"enhanced":[17],"Rapidly-Exploring":[18],"Random":[19],"Tree":[20],"algorithm":[21,28],"with":[22],"discrete":[23],"hierarchical":[24],"exploration.":[25],"The":[26],"DHE-RRT*":[27,73,97],"introduces":[29],"a":[30,41,57],"two-tier":[31],"recursive":[32],"exploration":[33],"framework":[34],"that":[35,96],"discretizes":[36],"continuous":[37],"expansion":[38],"directions":[39],"into":[40],"finite":[42],"set":[43],"of":[44],"headings,":[45],"thereby":[46],"facilitating":[47],"efficient":[48],"local":[49],"space":[50],"coverage.":[51],"further":[53],"enhance":[54],"sampling":[55],"efficiency,":[56],"forced-neighborhood":[58],"detection":[59],"mechanism":[60],"steers":[61],"tree":[63],"growth":[64],"toward":[65],"critical":[66],"regions":[67],"shaped":[68],"by":[69],"obstacle":[70],"geometries.":[71],"Moreover,":[72],"decouples":[74],"initial":[76],"generation":[78],"from":[79],"subsequent":[81],"bisection-based":[82],"topological":[83],"optimization,":[84],"effectively":[85],"reducing":[86],"computational":[87],"complexity":[88],"while":[89],"maintaining":[90],"probabilistic":[91],"completeness.":[92],"Extensive":[93],"simulations":[94],"demonstrate":[95],"has":[98],"excellent":[99],"adaptability":[100],"robustness.":[102]},"counts_by_year":[],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}
