{"id":"https://openalex.org/W2981592460","doi":"https://doi.org/10.1109/access.2019.2948976","title":"A Scalable Sampling-Based Optimal Path Planning Approach via Search Space Reduction","display_name":"A Scalable Sampling-Based Optimal Path Planning Approach via Search Space Reduction","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2981592460","doi":"https://doi.org/10.1109/access.2019.2948976","mag":"2981592460"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2948976","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2948976","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08879518.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08879518.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057254939","display_name":"Wenjie Lu","orcid":"https://orcid.org/0000-0003-1677-3633"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Wenjie Lu","raw_affiliation_strings":["Centre for Autonomous Systems, University of Technology Sydney, Sydney, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0003-1677-3633","affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, University of Technology Sydney, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035571131","display_name":"Dikai Liu","orcid":"https://orcid.org/0000-0002-1581-5582"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Dikai Liu","raw_affiliation_strings":["Centre for Autonomous Systems, University of Technology Sydney, Sydney, NSW, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, University of Technology Sydney, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.2978,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.60778034,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"7","issue":null,"first_page":"153921","last_page":"153935"},"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":0.9976999759674072,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9889000058174133,"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":0.650995671749115},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6032434105873108},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5747756958007812},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5572051405906677},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5544973015785217},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5221472382545471},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4857330918312073},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4842519462108612},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.4720148742198944},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.465435653924942},{"id":"https://openalex.org/keywords/metric-space","display_name":"Metric space","score":0.45660024881362915},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4204050898551941},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.420188307762146},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33858463168144226},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.18382671475410461},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17079061269760132},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10505422949790955}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.650995671749115},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6032434105873108},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5747756958007812},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5572051405906677},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5544973015785217},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5221472382545471},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4857330918312073},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4842519462108612},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.4720148742198944},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.465435653924942},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.45660024881362915},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4204050898551941},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.420188307762146},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33858463168144226},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.18382671475410461},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17079061269760132},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10505422949790955},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2019.2948976","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2948976","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08879518.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:10f0ee0467e4442996b8e9780e852c87","is_oa":true,"landing_page_url":"https://doaj.org/article/10f0ee0467e4442996b8e9780e852c87","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 153921-153935 (2019)","raw_type":"article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/137865","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/137865","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2948976","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2948976","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08879518.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6899999976158142,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2693253476","display_name":"An Intelligent Robotic System for Underwater Structure Maintenance","funder_award_id":"LP150100935","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"}],"funders":[{"id":"https://openalex.org/F4320320967","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041"},{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2981592460.pdf","grobid_xml":"https://content.openalex.org/works/W2981592460.grobid-xml"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W1014665884","https://openalex.org/W1522301498","https://openalex.org/W1538281461","https://openalex.org/W1814533834","https://openalex.org/W1864112212","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W1980969546","https://openalex.org/W2012380850","https://openalex.org/W2066918959","https://openalex.org/W2109212155","https://openalex.org/W2110762409","https://openalex.org/W2116341502","https://openalex.org/W2116772004","https://openalex.org/W2119520718","https://openalex.org/W2122724557","https://openalex.org/W2125501887","https://openalex.org/W2132338620","https://openalex.org/W2135003933","https://openalex.org/W2144067986","https://openalex.org/W2144824356","https://openalex.org/W2165698076","https://openalex.org/W2166077797","https://openalex.org/W2346637437","https://openalex.org/W2394951287","https://openalex.org/W2440926996","https://openalex.org/W2511691466","https://openalex.org/W2518144990","https://openalex.org/W2556802233","https://openalex.org/W2800142021","https://openalex.org/W2915553973","https://openalex.org/W2916750400","https://openalex.org/W2963324077","https://openalex.org/W2963336905","https://openalex.org/W2963439114","https://openalex.org/W2963800628","https://openalex.org/W2963903399","https://openalex.org/W2964027736","https://openalex.org/W2964137676","https://openalex.org/W3103346840","https://openalex.org/W3104996132","https://openalex.org/W6631190155","https://openalex.org/W6644448126","https://openalex.org/W6712520605","https://openalex.org/W6718190810","https://openalex.org/W6725627366","https://openalex.org/W6726401292","https://openalex.org/W6756748816"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W2113265763","https://openalex.org/W1987694097","https://openalex.org/W3158818664","https://openalex.org/W2797949337","https://openalex.org/W2372633663","https://openalex.org/W2863424594","https://openalex.org/W4388720133","https://openalex.org/W2564325388","https://openalex.org/W2108906364"],"abstract_inverted_index":{"Many":[0],"sampling":[1,151],"strategies":[2],"in":[3,19,78,114,160,206],"Sampling-Based":[4],"Planning":[5],"(SBP)":[6],"often":[7],"consider":[8],"goal":[9,27],"and":[10,13,21,121,163,179,203],"obstacle":[11],"population":[12],"may":[14],"however":[15],"become":[16],"less":[17],"efficient":[18],"large":[20,162,201],"cluttered":[22,164],"3D":[23],"environments":[24,165,202],"with":[25,83,185,208],"a":[26,33,40,49,57,63,79,118,128],"distanced":[28],"away.":[29],"This":[30,43],"paper":[31],"presents":[32],"search-space-Reduced":[34],"optimal":[35],"SBP":[36],"approach":[37],"(RSBP)":[38],"for":[39],"rigid":[41],"body.":[42],"reduced":[44],"space":[45,147],"is":[46,54,106,112,125,136,168],"found":[47],"by":[48,56],"sparse":[50,91],"search":[51,146],"tree,":[52],"which":[53],"enabled":[55],"Metric":[58],"Function":[59],"(MF)":[60],"built":[61],"on":[62],"neural":[64],"network.":[65],"The":[66,131,191],"offline-learnt":[67],"MF":[68],"estimates":[69],"the":[70,97,100,109,115,122,140,144,149,166,174,196],"minimum":[71],"traveling":[72,101],"cost":[73],"between":[74],"any":[75],"two":[76,90],"nodes":[77,92],"fixed":[80],"small":[81],"workspace":[82],"various":[84],"obstacles.":[85],"It":[86,105],"allows":[87],"connections":[88,98],"of":[89,143,188],"without":[93],"path":[94],"planning,":[95],"where":[96],"represent":[99],"costs":[102],"(not":[103],"paths).":[104],"proven":[107],"that":[108,159],"asymptotic":[110],"optimality":[111,123],"preserved":[113],"RSBP":[116,167],"(assuming":[117,127,148],"zero-error":[119],"MF)":[120],"degeneration":[124],"bounded":[126],"bounded-error":[129],"MF).":[130],"computational":[132],"complexity":[133],"during":[134],"planning":[135],"shown":[137,158,195],"linear":[138],"to":[139,200],"Lebesgue":[141],"measure":[142],"entire":[145],"same":[150],"density":[152],"across":[153],"environments).":[154],"Numerical":[155],"simulations":[156],"have":[157,194],"tested":[161],"at":[169],"least":[170],"as":[171,173],"fast":[172,176],"bidirectional":[175],"marching":[177],"tree*":[178],"informed":[180],"rapidly":[181],"exploring":[182],"random":[183],"tree*,":[184],"planned":[186],"paths":[187],"similar":[189],"optimality.":[190],"results":[192],"also":[193],"RSBP's":[197],"improved":[198],"scalability":[199],"enhanced":[204],"efficiency":[205],"dealing":[207],"narrow":[209],"passages.":[210]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}