{"id":"https://openalex.org/W2213277935","doi":"https://doi.org/10.1109/humanoids.2015.7363418","title":"Energy-efficient high-dimensional motion planning for humanoids using stochastic optimization","display_name":"Energy-efficient high-dimensional motion planning for humanoids using stochastic optimization","publication_year":2015,"publication_date":"2015-11-01","ids":{"openalex":"https://openalex.org/W2213277935","doi":"https://doi.org/10.1109/humanoids.2015.7363418","mag":"2213277935"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2015.7363418","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363418","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-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/A5101682061","display_name":"Junghun Suh","orcid":"https://orcid.org/0000-0001-9051-8097"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Junghun Suh","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071323493","display_name":"Joonsig Gong","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Joonsig Gong","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033764106","display_name":"Songhwai Oh","orcid":"https://orcid.org/0000-0002-9781-2018"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Songhwai Oh","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101682061"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":0.5523,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.7532076,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"564","last_page":"569"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10812","display_name":"Human Pose and Action Recognition","score":0.9948999881744385,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.876217246055603},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.7664012312889099},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6013043522834778},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5936994552612305},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5549439191818237},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5293501019477844},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.52159184217453},{"id":"https://openalex.org/keywords/search-tree","display_name":"Search tree","score":0.42692768573760986},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3976953625679016},{"id":"https://openalex.org/keywords/search-algorithm","display_name":"Search algorithm","score":0.3232252895832062},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.31767821311950684},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3157951235771179},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28044238686561584},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11648565530776978}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.876217246055603},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.7664012312889099},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6013043522834778},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5936994552612305},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5549439191818237},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5293501019477844},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.52159184217453},{"id":"https://openalex.org/C207024777","wikidata":"https://www.wikidata.org/wiki/Q621673","display_name":"Search tree","level":3,"score":0.42692768573760986},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3976953625679016},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.3232252895832062},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.31767821311950684},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3157951235771179},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28044238686561584},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11648565530776978},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2015.7363418","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363418","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1658011328","https://openalex.org/W1971086298","https://openalex.org/W1996763811","https://openalex.org/W2000359213","https://openalex.org/W2019965290","https://openalex.org/W2025939589","https://openalex.org/W2034801091","https://openalex.org/W2055609113","https://openalex.org/W2062691475","https://openalex.org/W2090528409","https://openalex.org/W2107149337","https://openalex.org/W2124455817","https://openalex.org/W2132083787","https://openalex.org/W2146467128","https://openalex.org/W2167531936","https://openalex.org/W2253223109","https://openalex.org/W2405526757","https://openalex.org/W3140434919","https://openalex.org/W6691924626"],"related_works":["https://openalex.org/W1991478428","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","https://openalex.org/W2371294653"],"abstract_inverted_index":{"This":[0,88],"paper":[1,89],"presents":[2,90],"a":[3,7,10,17,65,73,78,85,99,121,137,193],"method":[4,112,204],"for":[5,9,49,97],"planning":[6,34,52,95,191],"motion":[8,94],"humanoid":[11],"robot":[12,28],"performing":[13],"manipulation":[14],"tasks":[15],"in":[16,64,133,192],"high":[18,66,194],"dimensional":[19,67,195],"space":[20,68],"such":[21,36],"that":[22,201],"the":[23,27,60,117,130,134,142,146,161,170,180,202,207],"energy":[24,209],"consumption":[25,210],"of":[26,81,173,182],"is":[29,55,120,126,186],"minimized.":[30],"While":[31],"sampling-based":[32],"path":[33,51,63,102,190],"algorithms,":[35],"as":[37],"rapidly-exploring":[38],"random":[39],"tree":[40,75,119,124,135,144,148,163],"(RRT)":[41],"and":[42,106,141,178],"its":[43],"variants,":[44],"have":[45],"been":[46],"highly":[47],"effective":[48],"complex":[50],"problems,":[53],"it":[54,185],"still":[56],"difficult":[57],"to":[58,83,128,136,165,188],"find":[59,84],"minimum":[61,100],"cost":[62,101],"since":[69],"RRT-based":[70],"algorithms":[71],"extend":[72],"search":[74,162],"locally,":[76],"requiring":[77],"large":[79],"number":[80],"samples":[82],"good":[86],"solution.":[87],"an":[91],"efficient":[92],"nonmyopic":[93],"algorithm":[96],"finding":[98],"by":[103],"combining":[104],"RRT*":[105,183],"cross":[107],"entropy":[108],"(CE).":[109],"The":[110],"proposed":[111,203],"constructs":[113],"two":[114,155],"RRT":[115,123],"trees:":[116],"first":[118,147,176],"standard":[122],"which":[125],"used":[127],"determine":[129],"nearest":[131],"node":[132],"randomly":[138],"chosen":[139],"point":[140],"second":[143],"contains":[145],"with":[149],"additional":[150],"long":[151],"extensions.":[152],"By":[153],"maintaining":[154],"separate":[156],"trees,":[157],"we":[158],"can":[159],"grow":[160],"non-myopically":[164],"improve":[166],"efficiency":[167],"while":[168],"ensuring":[169],"asymptotic":[171],"optimality":[172],"RRT*.":[174],"We":[175],"identify":[177],"demonstrate":[179],"limitation":[181],"when":[184],"applied":[187],"energy-efficient":[189],"space.":[196],"Results":[197],"from":[198],"experiments":[199],"show":[200],"consistently":[205],"achieves":[206],"lowest":[208],"against":[211],"other":[212],"algorithms.":[213]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}