{"id":"https://openalex.org/W3006249771","doi":"https://doi.org/10.1109/icra40945.2020.9197338","title":"Adaptively Informed Trees (AIT*): Fast Asymptotically Optimal Path Planning through Adaptive Heuristics","display_name":"Adaptively Informed Trees (AIT*): Fast Asymptotically Optimal Path Planning through Adaptive Heuristics","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3006249771","doi":"https://doi.org/10.1109/icra40945.2020.9197338","mag":"3006249771"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197338","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197338","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2002.06599","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Marlin P. Strub","orcid":null},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Marlin P. Strub","raw_affiliation_strings":["University of Oxford,Estimation, Search, and Planning (ESP) Group of the Oxford Robotics Institute (ORI),United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Estimation, Search, and Planning (ESP) Group of the Oxford Robotics Institute (ORI),United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":null,"display_name":"Jonathan D. Gammell","orcid":null},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jonathan D. Gammell","raw_affiliation_strings":["University of Oxford,Estimation, Search, and Planning (ESP) Group of the Oxford Robotics Institute (ORI),United Kingdom"],"affiliations":[{"raw_affiliation_string":"University of Oxford,Estimation, Search, and Planning (ESP) Group of the Oxford Robotics Institute (ORI),United Kingdom","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I40120149"],"apc_list":null,"apc_paid":null,"fwci":3.3366,"has_fulltext":false,"cited_by_count":94,"citation_normalized_percentile":{"value":0.93629292,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3191","last_page":"3198"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9947999715805054,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9731000065803528,"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/heuristics","display_name":"Heuristics","score":0.8073999881744385},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.7433000206947327},{"id":"https://openalex.org/keywords/incremental-heuristic-search","display_name":"Incremental heuristic search","score":0.6171000003814697},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6025000214576721},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.48730000853538513},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.435699999332428},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4284999966621399},{"id":"https://openalex.org/keywords/beam-search","display_name":"Beam search","score":0.4235000014305115},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4169999957084656}],"concepts":[{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.8073999881744385},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.7433000206947327},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6704999804496765},{"id":"https://openalex.org/C139979381","wikidata":"https://www.wikidata.org/wiki/Q17056021","display_name":"Incremental heuristic search","level":4,"score":0.6171000003814697},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6025000214576721},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5564000010490417},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.48730000853538513},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.435699999332428},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4284999966621399},{"id":"https://openalex.org/C19889080","wikidata":"https://www.wikidata.org/wiki/Q2835852","display_name":"Beam search","level":3,"score":0.4235000014305115},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4169999957084656},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3961000144481659},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.38589999079704285},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.383899986743927},{"id":"https://openalex.org/C201789804","wikidata":"https://www.wikidata.org/wiki/Q2362762","display_name":"Search problem","level":2,"score":0.382999986410141},{"id":"https://openalex.org/C181789720","wikidata":"https://www.wikidata.org/wiki/Q4812191","display_name":"Asymptotically optimal algorithm","level":2,"score":0.38269999623298645},{"id":"https://openalex.org/C831591","wikidata":"https://www.wikidata.org/wiki/Q59750","display_name":"Bidirectional search","level":5,"score":0.37380000948905945},{"id":"https://openalex.org/C200246849","wikidata":"https://www.wikidata.org/wiki/Q5163226","display_name":"Consistent heuristic","level":5,"score":0.36800000071525574},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3490000069141388},{"id":"https://openalex.org/C114290370","wikidata":"https://www.wikidata.org/wiki/Q1415915","display_name":"Null-move heuristic","level":3,"score":0.3156000077724457},{"id":"https://openalex.org/C207685749","wikidata":"https://www.wikidata.org/wiki/Q2088941","display_name":"Domain knowledge","level":2,"score":0.31119999289512634},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.31040000915527344},{"id":"https://openalex.org/C207024777","wikidata":"https://www.wikidata.org/wiki/Q621673","display_name":"Search tree","level":3,"score":0.3018999993801117},{"id":"https://openalex.org/C135320971","wikidata":"https://www.wikidata.org/wiki/Q1868524","display_name":"Local search (optimization)","level":2,"score":0.2985999882221222},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.29440000653266907},{"id":"https://openalex.org/C46011968","wikidata":"https://www.wikidata.org/wiki/Q830527","display_name":"Best-first search","level":4,"score":0.2851000130176544},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.27459999918937683},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25859999656677246},{"id":"https://openalex.org/C135450995","wikidata":"https://www.wikidata.org/wiki/Q820272","display_name":"Hill climbing","level":2,"score":0.2524999976158142}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9197338","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197338","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2002.06599","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.06599","pdf_url":"https://arxiv.org/pdf/2002.06599","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2002.06599","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.06599","pdf_url":"https://arxiv.org/pdf/2002.06599","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W630423399","https://openalex.org/W1485487406","https://openalex.org/W1539048696","https://openalex.org/W1814533834","https://openalex.org/W1864112212","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1982809790","https://openalex.org/W2000359213","https://openalex.org/W2017872311","https://openalex.org/W2028945152","https://openalex.org/W2084501107","https://openalex.org/W2110762409","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2155675331","https://openalex.org/W2159722616","https://openalex.org/W2293499200","https://openalex.org/W2296248084","https://openalex.org/W2299136288","https://openalex.org/W2405683058","https://openalex.org/W2568324136","https://openalex.org/W2888667455","https://openalex.org/W2890523827","https://openalex.org/W2949117375","https://openalex.org/W2950619474","https://openalex.org/W2963130659","https://openalex.org/W2964118380","https://openalex.org/W3004407706","https://openalex.org/W3091295346","https://openalex.org/W4249771336","https://openalex.org/W6602916226","https://openalex.org/W6606885245","https://openalex.org/W6685486591","https://openalex.org/W6713815763","https://openalex.org/W6726401292","https://openalex.org/W6744875893"],"related_works":[],"abstract_inverted_index":{"Informed":[0,98],"sampling-based":[1,105],"planning":[2],"algorithms":[3],"exploit":[4,128],"problem":[5,52,71,77,116],"knowledge":[6,12],"for":[7,68],"better":[8],"search":[9,34,92,113,123],"performance.":[10],"This":[11,132],"is":[13,45],"often":[14,55,80],"expressed":[15],"as":[16,150,152],"heuristic":[17,44],"estimates":[18],"of":[19,31,39],"solution":[20],"cost":[21],"and":[22,59,127,140],"used":[23],"to":[24,49,57,61,75,82,86,114,124,135],"order":[25],"the":[26,37,40,91,143,147,158],"search.":[27],"The":[28],"practical":[29],"improvement":[30],"this":[32],"informed":[33],"depends":[35],"on":[36,108],"accuracy":[38],"heuristic.Selecting":[41],"an":[42,50,101,120],"appropriate":[43],"difficult.":[46],"Heuristics":[47,73],"applicable":[48],"entire":[51],"domain":[53],"are":[54,79],"simple":[56],"define":[58,83],"inexpensive":[60],"evaluate":[62,87],"but":[63,88],"may":[64],"not":[65],"be":[66],"beneficial":[67],"a":[69,76,129],"specific":[70,74],"instance.":[72],"instance":[78,117],"difficult":[81],"or":[84],"expensive":[85],"can":[89],"make":[90],"itself":[93],"trivial.This":[94],"paper":[95],"presents":[96],"Adaptively":[97],"Trees":[99],"(AIT*),":[100],"almost-surely":[102],"asymptotically":[103],"optimal":[104],"planner":[106],"based":[107],"BIT*.":[109],"AIT*":[110,145],"adapts":[111],"its":[112],"each":[115],"by":[118],"using":[119],"asymmetric":[121],"bidirectional":[122],"simultaneously":[125],"estimate":[126],"problem-specific":[130],"heuristic.":[131],"allows":[133],"it":[134],"quickly":[136],"find":[137],"initial":[138],"solutions":[139],"converge":[141],"towards":[142,157],"optimum.":[144,159],"solves":[146],"tested":[148],"problems":[149],"fast":[151],"RRT-Connect":[153],"while":[154],"also":[155],"converging":[156]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":37},{"year":2024,"cited_by_count":21},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2020-02-24T00:00:00"}
