{"id":"https://openalex.org/W2968427533","doi":"https://doi.org/10.1109/icra.2019.8793618","title":"Balancing Global Exploration and Local-connectivity Exploitation with Rapidly-exploring Random disjointed-Trees","display_name":"Balancing Global Exploration and Local-connectivity Exploitation with Rapidly-exploring Random disjointed-Trees","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968427533","doi":"https://doi.org/10.1109/icra.2019.8793618","mag":"2968427533"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793618","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793618","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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/A5016732447","display_name":"Tin Lai","orcid":"https://orcid.org/0000-0003-0641-5250"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Tin Lai","raw_affiliation_strings":["School of Computer Science, The University of Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, The University of Sydney, Australia","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062619542","display_name":"F\u00e1bio Ramos","orcid":"https://orcid.org/0000-0002-2996-2188"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Fabio Ramos","raw_affiliation_strings":["School of Computer Science, The University of Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, The University of Sydney, Australia","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067160257","display_name":"Gilad Francis","orcid":"https://orcid.org/0000-0001-7910-8556"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Gilad Francis","raw_affiliation_strings":["School of Computer Science, The University of Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, The University of Sydney, Australia","institution_ids":["https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I129604602"],"apc_list":null,"apc_paid":null,"fwci":2.3753,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.92716884,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5537","last_page":"5543"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9984999895095825,"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":0.996399998664856,"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/computer-science","display_name":"Computer science","score":0.5399811863899231},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5296497344970703},{"id":"https://openalex.org/keywords/mathematical-proof","display_name":"Mathematical proof","score":0.46681806445121765},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4293704926967621},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.424490749835968},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.41515445709228516},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3482697010040283},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3103889226913452},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.22945794463157654}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5399811863899231},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5296497344970703},{"id":"https://openalex.org/C108710211","wikidata":"https://www.wikidata.org/wiki/Q11538","display_name":"Mathematical proof","level":2,"score":0.46681806445121765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4293704926967621},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.424490749835968},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.41515445709228516},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3482697010040283},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3103889226913452},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.22945794463157654},{"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/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8793618","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793618","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1670942551","https://openalex.org/W1777783943","https://openalex.org/W1937587174","https://openalex.org/W1971086298","https://openalex.org/W1973712811","https://openalex.org/W1991290239","https://openalex.org/W2000359213","https://openalex.org/W2000643286","https://openalex.org/W2036075293","https://openalex.org/W2046356179","https://openalex.org/W2055201760","https://openalex.org/W2106473816","https://openalex.org/W2109212155","https://openalex.org/W2112271657","https://openalex.org/W2112765698","https://openalex.org/W2113286054","https://openalex.org/W2122724557","https://openalex.org/W2123016239","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2143826757","https://openalex.org/W2149660380","https://openalex.org/W2157543942","https://openalex.org/W2171266831","https://openalex.org/W2177274602","https://openalex.org/W2274199420","https://openalex.org/W2765140685","https://openalex.org/W2885312765","https://openalex.org/W2963130659","https://openalex.org/W3013267890","https://openalex.org/W3102509322","https://openalex.org/W4230813007","https://openalex.org/W6637067985","https://openalex.org/W6648231039","https://openalex.org/W6675683402","https://openalex.org/W6676022314","https://openalex.org/W6678373172","https://openalex.org/W6682110964","https://openalex.org/W6694772416"],"related_works":["https://openalex.org/W4394650907","https://openalex.org/W154364797","https://openalex.org/W4254119641","https://openalex.org/W3196207352","https://openalex.org/W2951724202","https://openalex.org/W3084261076","https://openalex.org/W2576399385","https://openalex.org/W2963408011","https://openalex.org/W4236324517","https://openalex.org/W1586813864"],"abstract_inverted_index":{"Sampling":[0],"efficiency":[1],"in":[2,102,130,143],"a":[3,10,79],"highly":[4,144],"constrained":[5,145],"environment":[6],"has":[7],"long":[8],"been":[9],"major":[11],"challenge":[12],"for":[13,115,134],"sampling-based":[14,103],"planners.":[15,105],"In":[16],"this":[17,116],"work,":[18],"we":[19,120],"propose":[20],"Rapidly-exploring":[21],"Random":[22],"disjointed-Trees*(RRdT*),":[23],"an":[24],"incremental":[25,140],"optimal":[26,113],"multi-query":[27],"planner.":[28],"RRdT*uses":[29],"multiple":[30],"disjointed-trees":[31],"to":[32,98],"exploit":[33],"local-connectivity":[34,63],"of":[35,89,110,125],"spaces":[36,61],"via":[37],"Markov":[38],"Chain":[39],"random":[40],"sampling,":[41],"which":[42],"utilises":[43],"neighbourhood":[44],"information":[45],"derived":[46],"from":[47],"previous":[48],"successful":[49],"and":[50,73,92,112],"failed":[51],"samples.":[52],"To":[53],"balance":[54],"local":[55,71,93],"exploitation,":[56],"RRdT*actively":[57],"explore":[58],"unseen":[59],"global":[60,74,90],"when":[62],"exploitation":[64,72,94],"is":[65,76,95],"unsuccessful.":[66],"The":[67],"active":[68,87],"trade-off":[69],"between":[70],"exploration":[75,91],"formulated":[77],"as":[78],"multi-armed":[80],"bandit":[81],"problem.":[82],"We":[83,106],"argue":[84],"that":[85],"the":[86,96,123],"balancing":[88],"key":[97],"improving":[99],"sample":[100],"efficient":[101],"motion":[104],"provide":[107],"rigorous":[108],"proofs":[109],"completeness":[111],"convergence":[114],"novel":[117],"approach.":[118],"Furthermore,":[119],"demonstrate":[121],"experimentally":[122],"effectiveness":[124],"RRdT*'s":[126],"locally":[127],"exploring":[128],"trees":[129],"granting":[131],"improved":[132],"visibility":[133],"planning.":[135],"Consequently,":[136],"RRdT*outperforms":[137],"existing":[138],"state-of-the-art":[139],"planners,":[141],"especially":[142],"environments.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}