{"id":"https://openalex.org/W3111937453","doi":"https://doi.org/10.1080/01691864.2020.1850349","title":"RRT*N: an efficient approach to path planning in 3D for Static and Dynamic Environments","display_name":"RRT*N: an efficient approach to path planning in 3D for Static and Dynamic Environments","publication_year":2020,"publication_date":"2020-12-09","ids":{"openalex":"https://openalex.org/W3111937453","doi":"https://doi.org/10.1080/01691864.2020.1850349","mag":"3111937453"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2020.1850349","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1850349","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","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/A5110450261","display_name":"H Mohammed","orcid":"https://orcid.org/0000-0002-3621-3505"},"institutions":[{"id":"https://openalex.org/I199440890","display_name":"American University of Sharjah","ror":"https://ror.org/001g2fj96","country_code":"AE","type":"education","lineage":["https://openalex.org/I199440890"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Hussein Mohammed","raw_affiliation_strings":["Mechatronics Graduate Program, College of Engineering, American University of Sharjah, Sharjah, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Mechatronics Graduate Program, College of Engineering, American University of Sharjah, Sharjah, United Arab Emirates","institution_ids":["https://openalex.org/I199440890"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018211585","display_name":"Lotfi Romdhane","orcid":"https://orcid.org/0000-0001-8509-2386"},"institutions":[{"id":"https://openalex.org/I199440890","display_name":"American University of Sharjah","ror":"https://ror.org/001g2fj96","country_code":"AE","type":"education","lineage":["https://openalex.org/I199440890"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Lotfi Romdhane","raw_affiliation_strings":["Department of Mechanical Engineering, American University of Sharjah, Sharjah, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, American University of Sharjah, Sharjah, United Arab Emirates","institution_ids":["https://openalex.org/I199440890"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086714211","display_name":"Mohammad A. Jaradat","orcid":"https://orcid.org/0000-0002-5655-0664"},"institutions":[{"id":"https://openalex.org/I156983542","display_name":"Jordan University of Science and Technology","ror":"https://ror.org/03y8mtb59","country_code":"JO","type":"education","lineage":["https://openalex.org/I156983542"]},{"id":"https://openalex.org/I199440890","display_name":"American University of Sharjah","ror":"https://ror.org/001g2fj96","country_code":"AE","type":"education","lineage":["https://openalex.org/I199440890"]}],"countries":["AE","JO"],"is_corresponding":true,"raw_author_name":"Mohammad A. Jaradat","raw_affiliation_strings":["Department of Mechanical Engineering, American University of Sharjah, Sharjah, United Arab Emirates","Department of Mechanical Engineering, Jordan University of Science & Technology, Irbid, Jordan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, American University of Sharjah, Sharjah, United Arab Emirates","institution_ids":["https://openalex.org/I199440890"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Jordan University of Science & Technology, Irbid, Jordan","institution_ids":["https://openalex.org/I156983542"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5086714211"],"corresponding_institution_ids":["https://openalex.org/I156983542","https://openalex.org/I199440890"],"apc_list":null,"apc_paid":null,"fwci":2.257,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.90303333,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"35","issue":"3-4","first_page":"168","last_page":"180"},"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":0.9969000220298767,"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/T12158","display_name":"Guidance and Control Systems","score":0.9807000160217285,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8170855045318604},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.766653299331665},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7478634119033813},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6041909456253052},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.602900505065918},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5162436962127686},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.46716511249542236},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4603841304779053},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4489280581474304},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2722854018211365},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24433642625808716}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8170855045318604},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.766653299331665},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7478634119033813},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6041909456253052},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.602900505065918},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5162436962127686},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.46716511249542236},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4603841304779053},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4489280581474304},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2722854018211365},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24433642625808716},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2020.1850349","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1850349","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W965654241","https://openalex.org/W1424654272","https://openalex.org/W1914059017","https://openalex.org/W1971086298","https://openalex.org/W1971315778","https://openalex.org/W1976930960","https://openalex.org/W2013724094","https://openalex.org/W2054585537","https://openalex.org/W2086860466","https://openalex.org/W2112271657","https://openalex.org/W2121701515","https://openalex.org/W2141664020","https://openalex.org/W2149716029","https://openalex.org/W2325423652","https://openalex.org/W2461374934","https://openalex.org/W2585122082","https://openalex.org/W2603927473","https://openalex.org/W2772821814","https://openalex.org/W2785912596","https://openalex.org/W2795391677","https://openalex.org/W2806980377","https://openalex.org/W3102121895","https://openalex.org/W6884914871"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W1987694097","https://openalex.org/W3158818664","https://openalex.org/W2797949337","https://openalex.org/W2359600231","https://openalex.org/W2372633663","https://openalex.org/W2863424594","https://openalex.org/W2380019117","https://openalex.org/W1660309994","https://openalex.org/W2118356379"],"abstract_inverted_index":{"In":[0],"this":[1,25,42,108],"paper,":[2],"a":[3,74,92],"modified":[4],"algorithm":[5],"of":[6,24,41,54,140],"the":[7,34,37,45,85,96,99,102,117,120,123,127,138,141],"Rapidly":[8],"exploring":[9],"Random":[10],"Tree":[11],"star":[12],"(RRT*)":[13],"is":[14,18,27,48,68,105],"proposed.":[15],"This":[16,70],"method":[17,26,43,72,109],"called":[19],"RRT*N.":[20],"The":[21,81],"main":[22],"advantage":[23],"its":[28,52],"speed":[29],"and":[30,51,58,65,131],"robustness":[31,139],"in":[32,63,115,126],"finding":[33,116],"path":[35,118],"to":[36,44,77,84,101,119,136],"target.":[38,103],"An":[39],"extension":[40],"3D":[46,66],"case":[47],"also":[49],"presented":[50,135],"capability":[53],"handling":[55],"static":[56],"obstacles":[57,62],"dynamic":[59],"unknown":[60],"moving":[61],"2D":[64],"environments,":[67],"shown.":[69],"improved":[71],"uses":[73],"probability":[75],"distribution":[76],"generate":[78],"new":[79],"nodes.":[80],"nodes":[82],"closest":[83],"target":[86,121],"have":[87],"higher":[88],"probability,":[89],"which":[90],"generates":[91],"tree":[93],"centered":[94],"on":[95],"line":[97],"joining":[98],"robot":[100],"It":[104],"shown":[106],"that":[107],"can":[110],"be":[111],"three":[112],"times":[113],"faster":[114],"than":[122],"regular":[124],"RRT*":[125],"same":[128],"environment.":[129],"Simulation":[130],"experimental":[132],"results":[133],"are":[134],"show":[137],"proposed":[142],"RRT*N":[143],"method.":[144]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":4}],"updated_date":"2026-03-24T08:02:53.985720","created_date":"2025-10-10T00:00:00"}
