{"id":"https://openalex.org/W2115889382","doi":"https://doi.org/10.1109/icsmc.2007.4413755","title":"A recursive sampling based method for path planning","display_name":"A recursive sampling based method for path planning","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2115889382","doi":"https://doi.org/10.1109/icsmc.2007.4413755","mag":"2115889382"},"language":"en","primary_location":{"id":"doi:10.1109/icsmc.2007.4413755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2007.4413755","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Systems, Man and Cybernetics","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/A5082780177","display_name":"Khelchandra Thongam","orcid":null},"institutions":[{"id":"https://openalex.org/I141591182","display_name":"University of Aizu","ror":"https://ror.org/02pg0e883","country_code":"JP","type":"education","lineage":["https://openalex.org/I141591182"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Thongam Khelchandra","raw_affiliation_strings":["Information Systems Department, University of Aizu, Aizu-Wakamatsu, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information Systems Department, University of Aizu, Aizu-Wakamatsu, Japan","institution_ids":["https://openalex.org/I141591182"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033737940","display_name":"Jie Huang","orcid":"https://orcid.org/0000-0002-3518-3404"},"institutions":[{"id":"https://openalex.org/I141591182","display_name":"University of Aizu","ror":"https://ror.org/02pg0e883","country_code":"JP","type":"education","lineage":["https://openalex.org/I141591182"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jie Huang","raw_affiliation_strings":["Information Systems Department, University of Aizu, Aizu-Wakamatsu, Japan","Univ. of Aizu, Aizu Wakamatsu"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information Systems Department, University of Aizu, Aizu-Wakamatsu, Japan","institution_ids":["https://openalex.org/I141591182"]},{"raw_affiliation_string":"Univ. of Aizu, Aizu Wakamatsu","institution_ids":["https://openalex.org/I141591182"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I141591182"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.14603814,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2408","last_page":"2412"},"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":0.9962000250816345,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/motion-planning","display_name":"Motion planning","score":0.8926267027854919},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6796483397483826},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.6760242581367493},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6371064186096191},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5742748975753784},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.5510891675949097},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5413662195205688},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.5309706926345825},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4685429334640503},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4351641535758972},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.4307589828968048},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4275183379650116},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.41437920928001404},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3782377243041992},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3110376298427582},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.22891327738761902},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20842474699020386},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.20584550499916077}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8926267027854919},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6796483397483826},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.6760242581367493},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6371064186096191},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5742748975753784},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.5510891675949097},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5413662195205688},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.5309706926345825},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4685429334640503},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4351641535758972},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.4307589828968048},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4275183379650116},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41437920928001404},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3782377243041992},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3110376298427582},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.22891327738761902},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20842474699020386},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.20584550499916077},{"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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icsmc.2007.4413755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2007.4413755","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Systems, Man and Cybernetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6000000238418579,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1516027685","https://openalex.org/W1978301848","https://openalex.org/W2037907469","https://openalex.org/W2053407718","https://openalex.org/W2071470832","https://openalex.org/W2115257338","https://openalex.org/W2128990851","https://openalex.org/W2146467128","https://openalex.org/W2151402824","https://openalex.org/W2171266831"],"related_works":["https://openalex.org/W2946941768","https://openalex.org/W4312191671","https://openalex.org/W3034726893","https://openalex.org/W2914610299","https://openalex.org/W1660309994","https://openalex.org/W3011727645","https://openalex.org/W2940127232","https://openalex.org/W2288613997","https://openalex.org/W3217270705","https://openalex.org/W2970918591"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,24,32,48,54,70,84,95,105],"new":[4],"technique":[5],"of":[6,19,27,34,93],"path":[7,55,73,96],"planning":[8,37,100],"in":[9,104],"synthetic":[10],"3D":[11],"environment.":[12],"The":[13,21,39,79],"environment":[14,29],"may":[15],"involve":[16],"any":[17],"number":[18],"obstacles.":[20,61],"algorithm":[22],"precomputes":[23],"global":[25],"roadmap":[26],"the":[28,57,91],"by":[30],"using":[31],"variant":[33],"randomized":[35],"motion":[36],"algorithm.":[38],"local":[40],"planner":[41],"used":[42],"to":[43,83],"connect":[44],"two":[45,58,75],"samples":[46,59],"is":[47,81,97],"recursive":[49],"one":[50],"and":[51,67,99],"always":[52],"finds":[53],"between":[56,74],"avoiding":[60],"Finally,":[62],"it":[63],"performs":[64],"graph":[65],"searching":[66],"automatically":[68],"computes":[69],"collision-tree":[71],"shortest":[72],"user":[76],"specified":[77],"locations.":[78],"method":[80],"applied":[82],"two-joint":[85],"manipulator.":[86],"Experimental":[87],"results":[88],"show":[89],"that":[90],"probability":[92],"finding":[94],"high":[98],"can":[101],"be":[102],"done":[103],"few":[106],"seconds.":[107]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}