{"id":"https://openalex.org/W4408862832","doi":"https://doi.org/10.1109/icce63647.2025.10930062","title":"InfoFusion Controller: Informed TRRT Star with Mutual Information Based on Fusion of Pure Pursuit and MPC for Enhanced Path Planning","display_name":"InfoFusion Controller: Informed TRRT Star with Mutual Information Based on Fusion of Pure Pursuit and MPC for Enhanced Path Planning","publication_year":2025,"publication_date":"2025-01-11","ids":{"openalex":"https://openalex.org/W4408862832","doi":"https://doi.org/10.1109/icce63647.2025.10930062"},"language":"en","primary_location":{"id":"doi:10.1109/icce63647.2025.10930062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icce63647.2025.10930062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Consumer Electronics (ICCE)","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/A5113262539","display_name":"Seongjun Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seongjun Choi","raw_affiliation_strings":["Kyung-Hee University,Autonomous Driving Lab, MODULABS,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyung-Hee University,Autonomous Driving Lab, MODULABS,Republic of Korea","institution_ids":["https://openalex.org/I35928602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010305620","display_name":"Young\u2010Bum Kim","orcid":"https://orcid.org/0000-0001-9471-6330"},"institutions":[{"id":"https://openalex.org/I24456540","display_name":"Korea Aerospace University","ror":"https://ror.org/05jmm0651","country_code":"KR","type":"education","lineage":["https://openalex.org/I24456540"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngbum Kim","raw_affiliation_strings":["Korea Aviation University,Autonomous Driving Lab, MODULABS,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Aviation University,Autonomous Driving Lab, MODULABS,Republic of Korea","institution_ids":["https://openalex.org/I24456540"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062246825","display_name":"Nam Woo Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nam Woo Kim","raw_affiliation_strings":["Unity Technologies,Autonomous Driving Lab, MODULABS,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Unity Technologies,Autonomous Driving Lab, MODULABS,Republic of Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mansun Shin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mansun Shin","raw_affiliation_strings":["SPACEEDUING Co., Ltd.,Autonomous Driving Lab, MODULABS,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SPACEEDUING Co., Ltd.,Autonomous Driving Lab, MODULABS,Republic of Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116806693","display_name":"Byunggi Chae","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Byunggi Chae","raw_affiliation_strings":["Auroka Pankyo, Autonomous Driving Lab, MODULABS,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Auroka Pankyo, Autonomous Driving Lab, MODULABS,Republic of Korea","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114526322","display_name":"Sungjin Lee","orcid":"https://orcid.org/0000-0003-3159-8394"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sungjin Lee","raw_affiliation_strings":["Dong Seoul University,Autonomous Driving Lab, MODULABS,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dong Seoul University,Autonomous Driving Lab, MODULABS,Republic of Korea","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6978999972343445,"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":0.6978999972343445,"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":0.02539999969303608,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.021199999377131462,"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/path","display_name":"Path (computing)","score":0.5972681641578674},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5755364894866943},{"id":"https://openalex.org/keywords/star","display_name":"Star (game theory)","score":0.5362130403518677},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5120158791542053},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49715450406074524},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48785400390625},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.47808146476745605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3680163621902466},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2582257390022278},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2492653727531433},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09554848074913025},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.07684913277626038},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.06755992770195007}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5972681641578674},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5755364894866943},{"id":"https://openalex.org/C2780897414","wikidata":"https://www.wikidata.org/wiki/Q7600592","display_name":"Star (game theory)","level":2,"score":0.5362130403518677},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5120158791542053},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49715450406074524},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48785400390625},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.47808146476745605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3680163621902466},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2582257390022278},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2492653727531433},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09554848074913025},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.07684913277626038},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.06755992770195007},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icce63647.2025.10930062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icce63647.2025.10930062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Consumer Electronics (ICCE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1935926926","https://openalex.org/W2025888056","https://openalex.org/W2156483112","https://openalex.org/W2996198898","https://openalex.org/W3162509885","https://openalex.org/W4212773814","https://openalex.org/W4225555528","https://openalex.org/W4311701841","https://openalex.org/W4394876538","https://openalex.org/W4395003082","https://openalex.org/W4396566567","https://openalex.org/W4401430850","https://openalex.org/W4403421568","https://openalex.org/W6777127049","https://openalex.org/W6794364308"],"related_works":["https://openalex.org/W4389620322","https://openalex.org/W4310846410","https://openalex.org/W3084489576","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"the":[5,33,48,67,70,89,116,142],"InfoFusion":[6,117,143],"Controller,":[7],"an":[8,43],"advanced":[9],"path":[10,104],"planning":[11,19,105],"algorithm":[12,40],"that":[13,115],"integrates":[14],"both":[15],"global":[16,30],"and":[17,56,72,80,106,127],"local":[18,49,103],"strategies":[20],"to":[21,41,65],"enhance":[22],"autonomous":[23],"driving":[24],"in":[25,93,102,122],"complex":[26,133],"urban":[27],"environments.":[28],"The":[29,85,139],"planner":[31,50],"utilizes":[32],"informed":[34],"Theta-Rapidly-exploring":[35],"Random":[36],"Tree":[37],"Star":[38],"(Informed-TRRT*)":[39],"generate":[42],"optimal":[44],"reference":[45],"path,":[46],"while":[47],"combines":[51],"Model":[52],"Predictive":[53],"Control":[54],"(MPC)":[55],"Pure":[57,73],"Pursuit":[58,74],"algorithms.":[59],"Mutual":[60],"Information":[61],"(MI)":[62],"is":[63,145],"employed":[64],"fuse":[66],"outputs":[68],"of":[69,91,124],"MPC":[71],"controllers,":[75],"effectively":[76],"balancing":[77],"their":[78,83],"strengths":[79],"compensating":[81],"for":[82,141],"weaknesses.":[84],"proposed":[86],"method":[87],"addresses":[88],"challenges":[90],"navigating":[92],"dynamic":[94,108],"environments":[95],"with":[96],"unpredictable":[97],"obstacles":[98],"by":[99],"reducing":[100],"uncertainty":[101],"improving":[107],"obstacle":[109],"avoidance":[110],"capabilities.":[111],"Experimental":[112],"results":[113],"demonstrate":[114],"Controller":[118,144],"outperforms":[119],"traditional":[120],"methods":[121],"terms":[123],"safety,":[125],"stability,":[126],"efficiency":[128],"across":[129],"various":[130],"scenarios,":[131],"including":[132],"maps":[134],"generated":[135],"using":[136],"SLAM":[137],"techniques.":[138],"code":[140],"available":[146],"at":[147],"https://github.com/DrawingProcess/InfoFusionController.":[148]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}