{"id":"https://openalex.org/W2024535088","doi":"https://doi.org/10.1109/icarcv.2014.7064352","title":"Guided RRT: A greedy search strategy for kinodynamic motion planning","display_name":"Guided RRT: A greedy search strategy for kinodynamic motion planning","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2024535088","doi":"https://doi.org/10.1109/icarcv.2014.7064352","mag":"2024535088"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2014.7064352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2014.7064352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 13th International Conference on Control Automation Robotics & Vision (ICARCV)","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/A5100400217","display_name":"Jun Zhang","orcid":"https://orcid.org/0000-0001-7835-9871"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jun Zhang","raw_affiliation_strings":["TU Delft Robotics institute, Delft University of Technology, Delft, Netherlands","TU Delft Robotics institute, Delft University of Technology, Delft, the Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Delft Robotics institute, Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"TU Delft Robotics institute, Delft University of Technology, Delft, the Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012384272","display_name":"Martijn Wisse","orcid":"https://orcid.org/0000-0001-8210-7562"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Martijn Wisse","raw_affiliation_strings":["TU Delft Robotics institute, Delft University of Technology, Delft, Netherlands","TU Delft Robotics institute, Delft University of Technology, Delft, the Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Delft Robotics institute, Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"TU Delft Robotics institute, Delft University of Technology, Delft, the Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018470454","display_name":"Mukunda Bharatheesha","orcid":"https://orcid.org/0000-0003-0161-9692"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Mukunda Bharatheesha","raw_affiliation_strings":["TU Delft Robotics institute, Delft University of Technology, Delft, Netherlands","TU Delft Robotics institute, Delft University of Technology, Delft, the Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Delft Robotics institute, Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"TU Delft Robotics institute, Delft University of Technology, Delft, the Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"480","last_page":"485"},"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":0.9897000193595886,"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/T11574","display_name":"Artificial Intelligence in Games","score":0.9851999878883362,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7864302396774292},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.630291223526001},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5916794538497925},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.5561196804046631},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5537689924240112},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.526703417301178},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.509238600730896},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4847702383995056},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4491703510284424},{"id":"https://openalex.org/keywords/euclidean-distance","display_name":"Euclidean distance","score":0.439645379781723},{"id":"https://openalex.org/keywords/greedy-algorithm","display_name":"Greedy algorithm","score":0.43527621030807495},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4115990400314331},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3948730230331421},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36745670437812805},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.300828218460083},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.29919537901878357},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11312222480773926}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7864302396774292},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.630291223526001},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5916794538497925},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.5561196804046631},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5537689924240112},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.526703417301178},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.509238600730896},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4847702383995056},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4491703510284424},{"id":"https://openalex.org/C120174047","wikidata":"https://www.wikidata.org/wiki/Q847073","display_name":"Euclidean distance","level":2,"score":0.439645379781723},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.43527621030807495},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4115990400314331},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3948730230331421},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36745670437812805},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.300828218460083},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.29919537901878357},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11312222480773926},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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":1,"locations":[{"id":"doi:10.1109/icarcv.2014.7064352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2014.7064352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 13th International Conference on Control Automation Robotics & Vision (ICARCV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W177468924","https://openalex.org/W1424654272","https://openalex.org/W2002548850","https://openalex.org/W2018740177","https://openalex.org/W2112765698","https://openalex.org/W2128990851","https://openalex.org/W2143149810","https://openalex.org/W2147497140","https://openalex.org/W2149016364","https://openalex.org/W2150772450","https://openalex.org/W2171205311","https://openalex.org/W2171266831","https://openalex.org/W2399501438","https://openalex.org/W2546496297","https://openalex.org/W6607211346"],"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/W4285205381","https://openalex.org/W2160082631","https://openalex.org/W4311133829","https://openalex.org/W2319810781","https://openalex.org/W4282823369"],"abstract_inverted_index":{"Sampling-based":[0],"methods,":[1],"such":[2],"as":[3,14],"Probabilistic":[4],"Roadmap":[5],"Method(PRM)[1],":[6],"Rapidly-Exploring":[7],"Random":[8],"Tree":[9],"(RRT)[2],":[10],"have":[11],"been":[12],"proposed":[13,121],"promising":[15],"solutions":[16],"for":[17,25,29],"kinodynamic":[18,54,151],"problems.":[19],"Nevertheless,":[20],"it's":[21],"still":[22],"a":[23,52,97,112],"challenge":[24],"practical":[26],"application":[27],"especially":[28],"complex":[30],"systems.":[31],"In":[32],"particular,":[33],"most":[34],"of":[35,83,99,109],"the":[36,64,75,85,88,93,107,110,125,129],"forward":[37],"propagation":[38],"is":[39],"fruitless,":[40],"which":[41],"lead":[42],"to":[43,105],"heavy":[44],"computation":[45],"and":[46,72,128,141],"be":[47],"time-consuming.":[48],"This":[49],"paper":[50],"presents":[51],"greedy":[53],"motion":[55],"planner:":[56],"Guided":[57],"RRT.":[58],"The":[59],"main":[60],"characteristics":[61],"are":[62,66,120],"that":[63,143],"environments":[65,86],"explored":[67],"by":[68,122],"Geometric":[69],"trees":[70],"previously":[71],"nodes":[73],"near":[74],"geometric":[76],"feasible":[77],"path":[78],"enjoy":[79],"more":[80],"preference.":[81],"Instead":[82],"exploring":[84],"uniformly,":[87],"new":[89,113],"approach":[90],"expands":[91],"towards":[92],"goal":[94],"greedily":[95],"along":[96],"series":[98],"waypoints,":[100],"with":[101,132,138],"probabilistically":[102],"completeness.":[103],"And":[104],"guarantee":[106],"effective":[108],"greed,":[111],"distance":[114],"metric":[115,119],"based":[116],"on":[117],"Euclidean":[118],"considering":[123],"both":[124],"current":[126],"position":[127,131],"following":[130],"zero-input.":[133],"We":[134],"compare":[135],"our":[136],"technique":[137],"standard":[139],"RRT":[140],"show":[142],"it":[144],"achieves":[145],"favorable":[146],"performance":[147],"when":[148],"planning":[149],"under":[150],"constraints.":[152]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}