{"id":"https://openalex.org/W1985368783","doi":"https://doi.org/10.1109/iros.2014.6942569","title":"Distance metric approximation for state-space RRTs using supervised learning","display_name":"Distance metric approximation for state-space RRTs using supervised learning","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W1985368783","doi":"https://doi.org/10.1109/iros.2014.6942569","mag":"1985368783"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942569","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5018470454","display_name":"Mukunda Bharatheesha","orcid":"https://orcid.org/0000-0003-0161-9692"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Mukunda Bharatheesha","raw_affiliation_strings":["Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands","Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, 2628 CD, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, 2628 CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009958441","display_name":"Wouter Caarls","orcid":"https://orcid.org/0000-0001-9069-2378"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Wouter Caarls","raw_affiliation_strings":["Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands","Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, 2628 CD, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, 2628 CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052265126","display_name":"Wouter Wolfslag","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Wouter Jan Wolfslag","raw_affiliation_strings":["Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands","Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, 2628 CD, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, 2628 CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012384272","display_name":"Martijn Wisse","orcid":"https://orcid.org/0000-0001-8210-7562"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Martijn Wisse","raw_affiliation_strings":["Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands","Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, 2628 CD, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, 2628 CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":null,"first_page":"252","last_page":"257"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9970999956130981,"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/metric","display_name":"Metric (unit)","score":0.6550934314727783},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6127421855926514},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.5488687753677368},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48328259587287903},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4317575693130493},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.42936229705810547},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41226714849472046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32754477858543396},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2662767767906189},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.246723473072052},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1347319483757019}],"concepts":[{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6550934314727783},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6127421855926514},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.5488687753677368},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48328259587287903},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4317575693130493},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.42936229705810547},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41226714849472046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32754477858543396},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2662767767906189},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.246723473072052},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1347319483757019},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","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/iros.2014.6942569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942569","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W195033972","https://openalex.org/W294676392","https://openalex.org/W1424654272","https://openalex.org/W1976606095","https://openalex.org/W2000359213","https://openalex.org/W2027693953","https://openalex.org/W2031335381","https://openalex.org/W2036016432","https://openalex.org/W2112088580","https://openalex.org/W2147497140","https://openalex.org/W2166077797","https://openalex.org/W2327781871","https://openalex.org/W2611243847","https://openalex.org/W6607786297","https://openalex.org/W6676770593"],"related_works":["https://openalex.org/W4205427655","https://openalex.org/W2348930259","https://openalex.org/W4254836043","https://openalex.org/W2990193004","https://openalex.org/W2212805002","https://openalex.org/W2099824146","https://openalex.org/W4312825863","https://openalex.org/W2761057027","https://openalex.org/W4245813482","https://openalex.org/W2908903114"],"abstract_inverted_index":{"The":[0,26],"dynamic":[1],"feasibility":[2],"of":[3,19,34,79,133,136],"solutions":[4],"to":[5,48,60,98],"motion":[6],"planning":[7,155],"problems":[8],"using":[9,65,106],"Rapidly":[10],"Exploring":[11],"Random":[12],"Trees":[13],"depends":[14],"strongly":[15],"on":[16],"the":[17,20,31,40,50,80,88,99,114,118,139,146,151,165],"choice":[18],"distance":[21,28],"metric":[22,29,148,161],"used":[23,167],"while":[24,53],"planning.":[25,54],"ideal":[27],"is":[30,45,76],"optimal":[32,51,81,100],"cost":[33,52,101,105,120],"traversal":[35],"between":[36],"two":[37],"states":[38],"in":[39],"state":[41],"space.":[42],"However,":[43],"it":[44],"computationally":[46],"intensive":[47],"find":[49],"We":[55,86,111,143],"propose":[56],"a":[57,66,72,122,129,134],"novel":[58],"approach":[59,93],"overcome":[61],"this":[62,104],"barrier":[63],"by":[64],"supervised":[67],"learning":[68],"algorithm":[69],"that":[70,113,159],"learns":[71],"nonlinear":[73],"function":[74,116],"which":[75],"an":[77,96],"estimate":[78],"cost,":[82],"via":[83],"offline":[84],"training.":[85],"use":[87,145],"Iterative":[89],"Linear":[90,168],"Quadratic":[91,169],"Regulator":[92,170],"for":[94,149],"estimating":[95],"approximation":[97],"and":[102,125,157],"learn":[103],"Locally":[107],"Weighted":[108],"Projection":[109],"Regression.":[110],"show":[112,158],"learnt":[115,147],"approximates":[117],"original":[119],"with":[121],"reasonable":[123],"tolerance":[124],"more":[126],"importantly,":[127],"gives":[128],"tremendous":[130],"speed":[131],"up":[132,154],"factor":[135],"1000":[137],"over":[138],"actual":[140],"computation":[141],"time.":[142],"also":[144],"solving":[150],"pendulum":[152],"swing":[153],"problem":[156],"our":[160],"performs":[162],"better":[163],"than":[164],"popularly":[166],"based":[171],"metric.":[172]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":6},{"year":2015,"cited_by_count":3}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
