{"id":"https://openalex.org/W4400848756","doi":"https://doi.org/10.1007/s40747-024-01557-2","title":"Bi-HS-RRT$$^\\text {X}$$: an efficient sampling-based motion planning algorithm for unknown dynamic environments","display_name":"Bi-HS-RRT$$^\\text {X}$$: an efficient sampling-based motion planning algorithm for unknown dynamic environments","publication_year":2024,"publication_date":"2024-07-20","ids":{"openalex":"https://openalex.org/W4400848756","doi":"https://doi.org/10.1007/s40747-024-01557-2"},"language":"en","primary_location":{"id":"doi:10.1007/s40747-024-01557-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-024-01557-2","pdf_url":null,"source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1007/s40747-024-01557-2","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033951235","display_name":"Longjie Liao","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longjie Liao","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088520478","display_name":"Qimin Xu","orcid":"https://orcid.org/0000-0002-7159-8666"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qimin Xu","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-7159-8666","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060691608","display_name":"Xinyi Zhou","orcid":"https://orcid.org/0000-0003-1126-6333"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyi Zhou","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100342477","display_name":"Xu Li","orcid":"https://orcid.org/0000-0002-9375-472X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Li","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010636608","display_name":"Xixiang Liu","orcid":"https://orcid.org/0000-0001-6847-1405"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xixiang Liu","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5088520478"],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":{"value":2290,"currency":"USD","value_usd":2290},"apc_paid":{"value":2290,"currency":"USD","value_usd":2290},"fwci":0.6101,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.6439114,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"10","issue":"6","first_page":"7497","last_page":"7512"},"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":0.982200026512146,"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":0.9811000227928162,"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/motion-planning","display_name":"Motion planning","score":0.8683357238769531},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.7769333124160767},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.7000916600227356},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6479098200798035},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.6323433518409729},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.6117058992385864},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6065578460693359},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5728768110275269},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4797607362270355},{"id":"https://openalex.org/keywords/ellipsoid","display_name":"Ellipsoid","score":0.4147995412349701},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41263556480407715},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4085719585418701},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32023411989212036},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2483292520046234},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.20081347227096558}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8683357238769531},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.7769333124160767},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.7000916600227356},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6479098200798035},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.6323433518409729},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6117058992385864},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6065578460693359},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5728768110275269},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4797607362270355},{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.4147995412349701},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41263556480407715},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4085719585418701},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32023411989212036},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2483292520046234},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.20081347227096558},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s40747-024-01557-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-024-01557-2","pdf_url":null,"source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:b1fef7a7d14e4c40856fe609970711a7","is_oa":false,"landing_page_url":"https://doaj.org/article/b1fef7a7d14e4c40856fe609970711a7","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complex & Intelligent Systems, Vol 10, Iss 6, Pp 7497-7512 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s40747-024-01557-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-024-01557-2","pdf_url":null,"source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1864112212","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W2076162824","https://openalex.org/W2084501107","https://openalex.org/W2099593662","https://openalex.org/W2108643443","https://openalex.org/W2141664020","https://openalex.org/W2143064560","https://openalex.org/W2177274602","https://openalex.org/W2288650507","https://openalex.org/W2294424735","https://openalex.org/W2326206646","https://openalex.org/W2335799662","https://openalex.org/W2519453022","https://openalex.org/W2909688514","https://openalex.org/W2963130659","https://openalex.org/W3090404636","https://openalex.org/W3102121895","https://openalex.org/W3102509322","https://openalex.org/W3145335088","https://openalex.org/W3176761908","https://openalex.org/W3209459638","https://openalex.org/W4236251699","https://openalex.org/W4285163545","https://openalex.org/W4293193500","https://openalex.org/W4298222681","https://openalex.org/W4312901806","https://openalex.org/W4386078167","https://openalex.org/W4394989851"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W1987694097","https://openalex.org/W3158818664","https://openalex.org/W2797949337","https://openalex.org/W2863424594","https://openalex.org/W2372633663","https://openalex.org/W4388720133","https://openalex.org/W2564325388","https://openalex.org/W2108906364","https://openalex.org/W2118356379"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"the":[2,20,88,95,99,107,117,132,142,164,169,189],"field":[3],"of":[4,141,168],"autonomous":[5],"mobile":[6],"robots,":[7],"sampling-based":[8],"motion":[9,44,59],"planning":[10,45,60,72,119,191,201],"methods":[11],"have":[12,29],"demonstrated":[13],"their":[14],"efficiency":[15,167],"in":[16,33,41,46,73,110,159,172,196],"complex":[17],"environments.":[18,49,77],"Although":[19],"Rapidly-exploring":[21],"Random":[22],"Tree":[23],"(RRT)":[24],"algorithm":[25,61,79,144,171,192],"and":[26,136,155,166,200],"its":[27],"variants":[28],"achieved":[30],"significant":[31,194],"success":[32],"known":[34],"static":[35],"environment,":[36],"it":[37],"is":[38,102,145],"still":[39],"challenging":[40],"achieving":[42],"optimal":[43,70],"unknown":[47,76,173],"dynamic":[48,92,174],"To":[50,162],"address":[51],"this":[52,54,122],"issue,":[53],"paper":[55,123],"proposes":[56],"a":[57,111,125],"novel":[58],"Bi-HS-RRT":[62],"$$^\\text":[63],"{X}$$":[64],"X":[65],",":[66],"which":[67],"facilitates":[68],"asymptotically":[69],"real-time":[71],"continuously":[74],"changing":[75],"The":[78,139,184],"swiftly":[80],"determines":[81],"an":[82],"initial":[83],"feasible":[84],"path":[85,97,134,154,198],"by":[86,147],"employing":[87],"bidirectional":[89,100],"search.":[90],"When":[91],"obstacles":[93],"render":[94],"planned":[96,133,197],"infeasible,":[98],"search":[101,108,118,137],"reactivated":[103],"promptly":[104],"to":[105,130],"reconstruct":[106],"tree":[109],"local":[112,149],"area,":[113],"thereby":[114],"significantly":[115],"reducing":[116],"time.":[120,202],"Additionally,":[121],"adopts":[124],"hybrid":[126],"heuristic":[127,157],"sampling":[128,151,158],"strategy":[129],"optimize":[131],"quality":[135],"efficiency.":[138],"convergence":[140],"proposed":[143,170,190],"accelerated":[146],"merging":[148],"biased":[150],"with":[152,179],"nominal":[153],"global":[156],"hyper-ellipsoid":[160],"region.":[161],"verify":[163],"effectiveness":[165],"environments,":[175],"numerous":[176],"comparative":[177],"experiments":[178],"existing":[180],"algorithms":[181],"were":[182],"conducted.":[183],"experimental":[185],"results":[186],"indicate":[187],"that":[188],"has":[193],"advantages":[195],"length":[199]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
