{"id":"https://openalex.org/W4383172041","doi":"https://doi.org/10.1109/icra48891.2023.10160838","title":"Informable Multi-Objective and Multi-Directional RRT<sup>*</sup> System for Robot Path Planning","display_name":"Informable Multi-Objective and Multi-Directional RRT<sup>*</sup> System for Robot Path Planning","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383172041","doi":"https://doi.org/10.1109/icra48891.2023.10160838"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160838","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","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/A5045776067","display_name":"Jiunn-Kai Huang","orcid":"https://orcid.org/0000-0002-3589-3027"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jiunn-Kai Huang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064734327","display_name":"Yingwen Tan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yingwen Tan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050198477","display_name":"Dongmyeong Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dongmyeong Lee","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086731595","display_name":"Vishnu R. Desaraju","orcid":"https://orcid.org/0000-0001-8326-7648"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vishnu R. Desaraju","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5037697344","display_name":"Jessy W. Grizzle","orcid":"https://orcid.org/0000-0001-7586-0142"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jessy W. Grizzle","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5045776067"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6149,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.68926209,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5666","last_page":"5673"},"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.7651894092559814},{"id":"https://openalex.org/keywords/travelling-salesman-problem","display_name":"Travelling salesman problem","score":0.6645094752311707},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6501914262771606},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5937033891677856},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.5680080056190491},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5561785101890564},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.545598030090332},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5095186829566956},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4910714626312256},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34487900137901306},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.30996835231781006},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1601177155971527},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1590832769870758},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11645954847335815}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7651894092559814},{"id":"https://openalex.org/C175859090","wikidata":"https://www.wikidata.org/wiki/Q322212","display_name":"Travelling salesman problem","level":2,"score":0.6645094752311707},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6501914262771606},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5937033891677856},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.5680080056190491},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5561785101890564},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.545598030090332},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5095186829566956},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4910714626312256},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34487900137901306},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30996835231781006},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1601177155971527},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1590832769870758},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11645954847335815}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160838","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G7985365998","display_name":null,"funder_award_id":"2118818","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":77,"referenced_works":["https://openalex.org/W46171904","https://openalex.org/W131069610","https://openalex.org/W1424654272","https://openalex.org/W1484040084","https://openalex.org/W1486932855","https://openalex.org/W1525389557","https://openalex.org/W1596059437","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1997039203","https://openalex.org/W1998058414","https://openalex.org/W2014889099","https://openalex.org/W2028047126","https://openalex.org/W2030174522","https://openalex.org/W2069024107","https://openalex.org/W2095428110","https://openalex.org/W2101028311","https://openalex.org/W2101344335","https://openalex.org/W2112271657","https://openalex.org/W2135998713","https://openalex.org/W2136323427","https://openalex.org/W2139710904","https://openalex.org/W2156116395","https://openalex.org/W2161076907","https://openalex.org/W2169528473","https://openalex.org/W2418849765","https://openalex.org/W2493934804","https://openalex.org/W2495816091","https://openalex.org/W2789477530","https://openalex.org/W2790850281","https://openalex.org/W2804892083","https://openalex.org/W2809054577","https://openalex.org/W2886819343","https://openalex.org/W2889166715","https://openalex.org/W2897019295","https://openalex.org/W2900312347","https://openalex.org/W2902626202","https://openalex.org/W2912551019","https://openalex.org/W2916010261","https://openalex.org/W2956015669","https://openalex.org/W2958604787","https://openalex.org/W2968301466","https://openalex.org/W2972798201","https://openalex.org/W2973181288","https://openalex.org/W2973697444","https://openalex.org/W2980040548","https://openalex.org/W2981168246","https://openalex.org/W2999344697","https://openalex.org/W3000625188","https://openalex.org/W3046016465","https://openalex.org/W3049753201","https://openalex.org/W3080503886","https://openalex.org/W3087919988","https://openalex.org/W3102386196","https://openalex.org/W3111059289","https://openalex.org/W3132131287","https://openalex.org/W3141776272","https://openalex.org/W3146778708","https://openalex.org/W3147079575","https://openalex.org/W3196165563","https://openalex.org/W3212530569","https://openalex.org/W4206490883","https://openalex.org/W4281995424","https://openalex.org/W4295138992","https://openalex.org/W4295846875","https://openalex.org/W4297238282","https://openalex.org/W4312271338","https://openalex.org/W4372046852","https://openalex.org/W6628682275","https://openalex.org/W6654186649","https://openalex.org/W6683620479","https://openalex.org/W6748487558","https://openalex.org/W6782272766","https://openalex.org/W6783814028","https://openalex.org/W6786458981","https://openalex.org/W6801101883","https://openalex.org/W6839498142"],"related_works":["https://openalex.org/W1525389557","https://openalex.org/W2361554335","https://openalex.org/W2359992618","https://openalex.org/W2164188042","https://openalex.org/W4306878646","https://openalex.org/W2054495636","https://openalex.org/W2046552997","https://openalex.org/W2913191894","https://openalex.org/W4389782626","https://openalex.org/W2120447654"],"abstract_inverted_index":{"Multi-objective":[0],"or":[1,119],"multi-destination":[2],"path":[3,38],"planning":[4,39],"is":[5,50,101,142],"crucial":[6],"for":[7,23,104,150],"mobile":[8],"robotics":[9,17,105],"applications":[10],"such":[11,132],"as":[12,14],"mobility":[13],"a":[15,66,71,82,97],"service,":[16],"inspection,":[18],"and":[19,41,57,70,81,107,146],"electric":[20],"vehicle":[21,108],"charging":[22],"long":[24],"trips.":[25],"This":[26],"work":[27],"proposes":[28],"an":[29,53,76],"anytime":[30,54,140],"iterative":[31],"system":[32,49,128,141],"to":[33,64,85,134],"concurrently":[34],"solve":[35,86],"the":[36,43,88,112,126],"multi-objective":[37,56],"problem":[40,92],"determine":[42],"visiting":[44],"order":[45],"of":[46,52,75,99,121],"destinations.":[47],"The":[48,138],"comprised":[51],"informable":[55],"multi-directional":[58],"RRT":[59],"<sup":[60],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[61],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">*</sup>":[62],"algorithm":[63,80,84],"form":[65],"simple":[67],"connected":[68],"graph,":[69],"solver":[72],"that":[73,111,125],"consists":[74],"enhanced":[77],"cheapest":[78],"insertion":[79],"genetic":[83],"approximately":[87],"relaxed":[89],"traveling":[90],"salesman":[91],"in":[93],"polynomial":[94],"time.":[95],"Moreover,":[96],"list":[98],"waypoints":[100],"often":[102],"provided":[103],"inspection":[106],"routing":[109],"so":[110],"robot":[113],"can":[114,129],"preferentially":[115],"visit":[116],"certain":[117],"equipment":[118],"areas":[120],"interest.":[122],"We":[123],"show":[124],"proposed":[127,139],"inherently":[130],"incorporate":[131],"knowledge":[133],"navigate":[135],"challenging":[136],"topology.":[137],"evaluated":[143],"on":[144],"large":[145],"complex":[147],"graphs":[148],"built":[149],"real-world":[151],"driving":[152],"applications.":[153],"C++":[154],"implementations":[155],"are":[156],"available":[157],"at:":[158],"https://github.com/UMich-BipedLab/IMOMD-RRTStar.":[159]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}