{"id":"https://openalex.org/W4225097833","doi":"https://doi.org/10.1080/01691864.2022.2062259","title":"Systematic comparison of path planning algorithms using PathBench","display_name":"Systematic comparison of path planning algorithms using PathBench","publication_year":2022,"publication_date":"2022-04-29","ids":{"openalex":"https://openalex.org/W4225097833","doi":"https://doi.org/10.1080/01691864.2022.2062259"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2022.2062259","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2022.2062259","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/A5004870899","display_name":"Hao-Ya Hsueh","orcid":"https://orcid.org/0000-0001-5467-800X"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Hao-Ya Hsueh","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001553598","display_name":"Alexandru-Iosif Toma","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alexandru-Iosif Toma","raw_affiliation_strings":["Department of Computing, Imperial College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013545582","display_name":"Hussein Ali Jaafar","orcid":"https://orcid.org/0000-0001-6998-2012"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hussein Ali Jaafar","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005785857","display_name":"Edward Stow","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Edward Stow","raw_affiliation_strings":["Department of Computing, Imperial College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070828879","display_name":"Riku Murai","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Riku Murai","raw_affiliation_strings":["Department of Computing, Imperial College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000319133","display_name":"Paul H. J. Kelly","orcid":"https://orcid.org/0000-0001-5905-1804"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Paul H. J. Kelly","raw_affiliation_strings":["Department of Computing, Imperial College London, London, UK"],"raw_orcid":"https://orcid.org/0000-0001-5905-1804","affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047941621","display_name":"Sajad Saeedi","orcid":"https://orcid.org/0000-0002-6385-6127"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Sajad Saeedi","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada","institution_ids":["https://openalex.org/I530967"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5004870899"],"corresponding_institution_ids":["https://openalex.org/I530967"],"apc_list":null,"apc_paid":null,"fwci":1.2245,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.79843984,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"36","issue":"11","first_page":"566","last_page":"581"},"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":0.998199999332428,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9861000180244446,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.7920864820480347},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.7409448027610779},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6885254383087158},{"id":"https://openalex.org/keywords/waypoint","display_name":"Waypoint","score":0.6368241310119629},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.6014017462730408},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5386611819267273},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5038270354270935},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.48372700810432434},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.45425039529800415},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.44873058795928955},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3955089747905731},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.21191951632499695}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7920864820480347},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.7409448027610779},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6885254383087158},{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.6368241310119629},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6014017462730408},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5386611819267273},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5038270354270935},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.48372700810432434},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.45425039529800415},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.44873058795928955},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3955089747905731},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.21191951632499695},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"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/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/01691864.2022.2062259","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2022.2062259","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"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/98216","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/98216","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"581","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.47999998927116394,"id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G2784140359","display_name":"Application Customisation: Enhancing Design Quality and Developer Productivity","funder_award_id":"EP/P010040/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5291221682","display_name":null,"funder_award_id":"CPCA-0126","funder_id":"https://openalex.org/F4320321612","funder_display_name":"Defence Research and Development Canada"},{"id":"https://openalex.org/G774180880","display_name":null,"funder_award_id":"EP/P010040/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320321612","display_name":"Defence Research and Development Canada","ror":"https://ror.org/00hgy8d33"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W268178744","https://openalex.org/W305748721","https://openalex.org/W592963477","https://openalex.org/W1424654272","https://openalex.org/W1486932855","https://openalex.org/W1894701209","https://openalex.org/W1969472392","https://openalex.org/W1996183429","https://openalex.org/W2019965290","https://openalex.org/W2032924574","https://openalex.org/W2049771613","https://openalex.org/W2096636360","https://openalex.org/W2101502731","https://openalex.org/W2104865413","https://openalex.org/W2110762409","https://openalex.org/W2117211893","https://openalex.org/W2122579773","https://openalex.org/W2129209579","https://openalex.org/W2130422193","https://openalex.org/W2134491302","https://openalex.org/W2135125135","https://openalex.org/W2135998713","https://openalex.org/W2136323427","https://openalex.org/W2141664020","https://openalex.org/W2142224528","https://openalex.org/W2152536965","https://openalex.org/W2156256170","https://openalex.org/W2161819990","https://openalex.org/W2306644740","https://openalex.org/W2557465155","https://openalex.org/W2569181534","https://openalex.org/W2593841437","https://openalex.org/W2740508249","https://openalex.org/W2753505158","https://openalex.org/W2783963507","https://openalex.org/W2789218862","https://openalex.org/W2798000375","https://openalex.org/W2883702102","https://openalex.org/W2888241724","https://openalex.org/W2894019975","https://openalex.org/W2894417726","https://openalex.org/W2912551019","https://openalex.org/W2922572893","https://openalex.org/W2944200650","https://openalex.org/W2963516936","https://openalex.org/W2967969632","https://openalex.org/W2968673597","https://openalex.org/W3003648623","https://openalex.org/W3009928773","https://openalex.org/W3021208093","https://openalex.org/W3043649182","https://openalex.org/W3047385205","https://openalex.org/W3093374227","https://openalex.org/W3098336417","https://openalex.org/W3100868156","https://openalex.org/W3105267091","https://openalex.org/W3122878979","https://openalex.org/W3126092478","https://openalex.org/W3130548322","https://openalex.org/W3179340532","https://openalex.org/W3182196489","https://openalex.org/W4200523064"],"related_works":["https://openalex.org/W2863424594","https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2586992284","https://openalex.org/W2389896347","https://openalex.org/W3139139461","https://openalex.org/W2904203243","https://openalex.org/W2106119116","https://openalex.org/W2125569607"],"abstract_inverted_index":{"Path":[0],"planning":[1,11,38,49,85,97,105,113],"is":[2,62,118,128,192],"an":[3],"essential":[4],"component":[5],"of":[6,35,57,77,126],"mobile":[7],"robotics.":[8],"Classical":[9],"path":[10,37,48,84,96,112,162],"algorithms,":[12],"such":[13,160],"as":[14,161],"wavefront":[15],"and":[16,55,59,75,79,82,89,110,120,141,153,166],"rapidly":[17],"exploring":[18],"random":[19],"tree,":[20],"are":[21,99],"used":[22,170],"heavily":[23],"in":[24,31,87,130],"autonomous":[25],"robots.":[26],"With":[27],"the":[28,53],"recent":[29],"advances":[30],"machine":[32],"learning,":[33],"development":[34,54],"learning-based":[36,83],"algorithms":[39,61,86,98,117,135],"has":[40],"been":[41],"experiencing":[42],"a":[43,68,180],"rapid":[44],"growth.":[45],"A":[46],"unified":[47],"interface":[50],"that":[51],"facilitates":[52],"benchmarking":[56,76,124],"existing":[58,78,95],"new":[60,116],"needed.":[63],"This":[64],"paper":[65,132],"presents":[66],"PathBench,":[67],"platform":[69],"for":[70,187],"developing,":[71],"visualizing,":[72],"training,":[73],"testing,":[74],"future,":[80],"classical":[81],"2D":[88],"3D":[90],"grid":[91],"world":[92,157],"environments.":[93],"Many":[94],"supported,":[100],"e.g.":[101],"A*,":[102],"Dijkstra,":[103],"waypoint":[104],"networks,":[106,109],"value":[107],"iteration":[108],"gated":[111],"networks;":[114],"integrating":[115],"easy":[119],"clearly":[121],"specified.":[122],"The":[123],"ability":[125],"PathBench":[127,148,191],"explored":[129],"this":[131],"by":[133],"comparing":[134],"across":[136],"five":[137],"different":[138,143],"hardware":[139],"systems":[140],"three":[142],"map":[144],"types,":[145],"including":[146],"built-in":[147],"maps,":[149,152],"video":[150],"game":[151],"maps":[154],"from":[155],"real":[156],"databases.":[158],"Metrics,":[159],"length,":[163],"success":[164],"rate,":[165],"computational":[167],"time,":[168],"were":[169],"to":[171,183],"evaluate":[172],"algorithms.":[173],"Algorithmic":[174],"analysis":[175],"was":[176],"also":[177],"performed":[178],"on":[179],"real-world":[181],"robot":[182],"demonstrate":[184],"PathBench's":[185],"support":[186],"Robot":[188],"Operating":[189],"System.":[190],"open":[193],"source1.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}