{"id":"https://openalex.org/W3091909587","doi":"https://doi.org/10.1109/case48305.2020.9217008","title":"Energy-Aware Multi-Goal Motion Planning Guided by Monte Carlo Search","display_name":"Energy-Aware Multi-Goal Motion Planning Guided by Monte Carlo Search","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3091909587","doi":"https://doi.org/10.1109/case48305.2020.9217008","mag":"3091909587"},"language":"en","primary_location":{"id":"doi:10.1109/case48305.2020.9217008","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9217008","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5020283109","display_name":"Yazz Warsame","orcid":null},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yazz Warsame","raw_affiliation_strings":["Dept. of Informatics, King\u2019s College London, London","Dept. of Informatics, King's College London, London"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Informatics, King\u2019s College London, London","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Dept. of Informatics, King's College London, London","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058729606","display_name":"Stefan Edelkamp","orcid":"https://orcid.org/0000-0001-8435-5025"},"institutions":[{"id":"https://openalex.org/I2802076133","display_name":"University of Koblenz and Landau","ror":"https://ror.org/01j9f6752","country_code":"DE","type":"education","lineage":["https://openalex.org/I2802076133"]},{"id":"https://openalex.org/I4387153937","display_name":"Universit\u00e4t Koblenz","ror":"https://ror.org/0433e6t24","country_code":"DE","type":"education","lineage":["https://openalex.org/I4387153937"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Edelkamp","raw_affiliation_strings":["Dept. of Informatics, University of Koblenz-Landau, Mainz, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Informatics, University of Koblenz-Landau, Mainz, Germany","institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I4387153937"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017823298","display_name":"Erion Plaku","orcid":"https://orcid.org/0000-0001-5605-4575"},"institutions":[{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erion Plaku","raw_affiliation_strings":["Dept. of Electrical Engineering and Computer Science, Catholic University of America, Washington, DC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering and Computer Science, Catholic University of America, Washington, DC, USA","institution_ids":["https://openalex.org/I84470341"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"335","last_page":"342"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9961000084877014,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9872999787330627,"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/motion-planning","display_name":"Motion planning","score":0.797958254814148},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7279661893844604},{"id":"https://openalex.org/keywords/monte-carlo-tree-search","display_name":"Monte Carlo tree search","score":0.6744815111160278},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6541673541069031},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.6399244070053101},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6049663424491882},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.5655485391616821},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.561485767364502},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4675867557525635},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.46425682306289673},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4393007457256317},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.42874813079833984},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4233188033103943},{"id":"https://openalex.org/keywords/decision-tree","display_name":"Decision tree","score":0.4186607003211975},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4135951101779938},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3479297161102295},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1635434329509735},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16253095865249634},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1133231520652771}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.797958254814148},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7279661893844604},{"id":"https://openalex.org/C46149586","wikidata":"https://www.wikidata.org/wiki/Q11785332","display_name":"Monte Carlo tree search","level":3,"score":0.6744815111160278},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6541673541069031},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.6399244070053101},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6049663424491882},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.5655485391616821},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.561485767364502},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4675867557525635},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.46425682306289673},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4393007457256317},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.42874813079833984},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4233188033103943},{"id":"https://openalex.org/C84525736","wikidata":"https://www.wikidata.org/wiki/Q831366","display_name":"Decision tree","level":2,"score":0.4186607003211975},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4135951101779938},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3479297161102295},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1635434329509735},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16253095865249634},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1133231520652771},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case48305.2020.9217008","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9217008","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W89766480","https://openalex.org/W101508493","https://openalex.org/W106432714","https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1532778915","https://openalex.org/W1625390266","https://openalex.org/W1885800025","https://openalex.org/W1971086298","https://openalex.org/W2000359213","https://openalex.org/W2111186563","https://openalex.org/W2118527907","https://openalex.org/W2119515479","https://openalex.org/W2128990851","https://openalex.org/W2146123691","https://openalex.org/W2163639028","https://openalex.org/W2189076595","https://openalex.org/W2257979135","https://openalex.org/W2403256853","https://openalex.org/W2529170537","https://openalex.org/W2553720302","https://openalex.org/W2749009241","https://openalex.org/W2773820396","https://openalex.org/W2945992265","https://openalex.org/W2962736495","https://openalex.org/W2968450516","https://openalex.org/W2971824418","https://openalex.org/W4285719527","https://openalex.org/W6603574455","https://openalex.org/W6639110476","https://openalex.org/W6743499842","https://openalex.org/W6762395175"],"related_works":["https://openalex.org/W2107702345","https://openalex.org/W2137520303","https://openalex.org/W1536392978","https://openalex.org/W2216928063","https://openalex.org/W2389713625","https://openalex.org/W2394276631","https://openalex.org/W4308217561","https://openalex.org/W2134348961","https://openalex.org/W2115192598","https://openalex.org/W2116162693"],"abstract_inverted_index":{"Autonomous":[0],"robots":[1],"need":[2],"a":[3,13,36,40,81,88,93,131],"reliable":[4],"way":[5],"to":[6,44,96,105,123],"preserve":[7],"their":[8],"energy":[9],"level":[10],"while":[11,48],"performing":[12],"persistent":[14],"task":[15],"such":[16],"as":[17,128],"inspection":[18],"or":[19],"surveillance.":[20],"Toward":[21],"this":[22,24],"objective,":[23],"paper":[25,61],"considers":[26],"the":[27,50,54,115,149,152],"multi-goal":[28],"motion-planning":[29],"problem":[30],"with":[31,71,139],"multiple":[32],"recharging":[33],"stations":[34],"where":[35],"robot":[37,142],"operating":[38,144],"in":[39,109,145],"complex":[41],"environment":[42],"has":[43],"reach":[45],"each":[46],"goal":[47],"reducing":[49],"travel":[51],"distance":[52],"and":[53,91,100,135],"number":[55,116],"of":[56,117,133,151],"times":[57],"it":[58,102,129],"recharges.":[59,118],"This":[60,107],"develops":[62],"an":[63],"integrated":[64],"approach":[65],"that":[66,112],"couples":[67],"sampling-based":[68,125],"motion":[69,126],"planning":[70,127],"Monte-Carlo":[72],"Tree":[73],"Search":[74],"(MCTS).":[75],"The":[76],"proposed":[77],"MCTS":[78],"searches":[79],"over":[80],"discrete":[82],"abstraction,":[83],"which":[84],"is":[85,103],"obtained":[86],"via":[87],"probabilistic":[89],"roadmap,":[90],"uses":[92],"reward":[94],"function":[95],"calculate":[97],"when,":[98],"where,":[99],"whether":[101],"beneficial":[104],"recharge.":[106],"results":[108],"short":[110],"tours":[111,120],"also":[113],"reduce":[114],"Such":[119],"are":[121],"used":[122],"guide":[124],"expands":[130],"tree":[132],"collision-free":[134],"dynamically-feasible":[136],"motions.":[137],"Experiments":[138],"nonlinear":[140],"dynamical":[141],"models":[143],"obstacle-rich":[146],"environments":[147],"demonstrate":[148],"efficiency":[150],"approach.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}