{"id":"https://openalex.org/W4200603330","doi":"https://doi.org/10.1109/iros51168.2021.9636025","title":"Kohonen Self-Organizing Map based Route Planning: A Revisit","display_name":"Kohonen Self-Organizing Map based Route Planning: A Revisit","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200603330","doi":"https://doi.org/10.1109/iros51168.2021.9636025"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636025","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5006910098","display_name":"Qingshu Guan","orcid":"https://orcid.org/0000-0002-5253-5598"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qingshu Guan","raw_affiliation_strings":["School of Software Engineering, Xi\u2019an Jiaotong University, China","School of Software Engineering, Xi'an Jiaotong University, China"],"affiliations":[{"raw_affiliation_string":"School of Software Engineering, Xi\u2019an Jiaotong University, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"School of Software Engineering, Xi'an Jiaotong University, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026880795","display_name":"Xiaopeng Hong","orcid":"https://orcid.org/0000-0002-0611-0636"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaopeng Hong","raw_affiliation_strings":["School of Cyber Science and Engineering, Xi\u2019an Jiaotong University, China","School of Cyber Science and Engineering, Xi'an Jiaotong University, China"],"affiliations":[{"raw_affiliation_string":"School of Cyber Science and Engineering, Xi\u2019an Jiaotong University, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"School of Cyber Science and Engineering, Xi'an Jiaotong University, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101867597","display_name":"Wei Ke","orcid":"https://orcid.org/0000-0002-2899-0371"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Ke","raw_affiliation_strings":["School of Software Engineering, Xi\u2019an Jiaotong University, China","School of Software Engineering, Xi'an Jiaotong University, China"],"affiliations":[{"raw_affiliation_string":"School of Software Engineering, Xi\u2019an Jiaotong University, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"School of Software Engineering, Xi'an Jiaotong University, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049204857","display_name":"Liangfei Zhang","orcid":"https://orcid.org/0000-0002-1860-5281"},"institutions":[{"id":"https://openalex.org/I16835326","display_name":"University of St Andrews","ror":"https://ror.org/02wn5qz54","country_code":"GB","type":"education","lineage":["https://openalex.org/I16835326"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Liangfei Zhang","raw_affiliation_strings":["School of Computer Science, University of St Andrews, UK"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of St Andrews, UK","institution_ids":["https://openalex.org/I16835326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051234799","display_name":"Guanghui Sun","orcid":"https://orcid.org/0000-0003-1623-2220"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanghui Sun","raw_affiliation_strings":["Harbin Insititute of Technology, China"],"affiliations":[{"raw_affiliation_string":"Harbin Insititute of Technology, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100687952","display_name":"Yihong Gong","orcid":"https://orcid.org/0000-0002-1793-5836"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yihong Gong","raw_affiliation_strings":["School of Software Engineering, Xi\u2019an Jiaotong University, China","School of Software Engineering, Xi'an Jiaotong University, China"],"affiliations":[{"raw_affiliation_string":"School of Software Engineering, Xi\u2019an Jiaotong University, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"School of Software Engineering, Xi'an Jiaotong University, China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5006910098"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":0.3267,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.69786866,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7969","last_page":"7976"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"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":0.9983000159263611,"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":0.9975000023841858,"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"}},{"id":"https://openalex.org/T10100","display_name":"Metaheuristic Optimization Algorithms Research","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/travelling-salesman-problem","display_name":"Travelling salesman problem","score":0.7013088464736938},{"id":"https://openalex.org/keywords/self-organizing-map","display_name":"Self-organizing map","score":0.682328999042511},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6220302581787109},{"id":"https://openalex.org/keywords/convex-hull","display_name":"Convex hull","score":0.5925625562667847},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5368272662162781},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.5297661423683167},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4539470672607422},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4450588822364807},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4433422386646271},{"id":"https://openalex.org/keywords/hebbian-theory","display_name":"Hebbian theory","score":0.4176710844039917},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3736380934715271},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2867312431335449},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27783429622650146},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2705581784248352},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10380503535270691},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.09593045711517334},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.09298557043075562},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07896807789802551},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.0722062885761261}],"concepts":[{"id":"https://openalex.org/C175859090","wikidata":"https://www.wikidata.org/wiki/Q322212","display_name":"Travelling salesman problem","level":2,"score":0.7013088464736938},{"id":"https://openalex.org/C111168008","wikidata":"https://www.wikidata.org/wiki/Q1136838","display_name":"Self-organizing map","level":3,"score":0.682328999042511},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6220302581787109},{"id":"https://openalex.org/C206194317","wikidata":"https://www.wikidata.org/wiki/Q1138624","display_name":"Convex hull","level":3,"score":0.5925625562667847},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5368272662162781},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.5297661423683167},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4539470672607422},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4450588822364807},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4433422386646271},{"id":"https://openalex.org/C111437709","wikidata":"https://www.wikidata.org/wiki/Q1277874","display_name":"Hebbian theory","level":3,"score":0.4176710844039917},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3736380934715271},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2867312431335449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27783429622650146},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2705581784248352},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10380503535270691},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.09593045711517334},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.09298557043075562},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07896807789802551},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.0722062885761261},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636025","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4000000059604645,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W65738273","https://openalex.org/W163172025","https://openalex.org/W626292722","https://openalex.org/W1600704669","https://openalex.org/W1715975119","https://openalex.org/W1773272079","https://openalex.org/W1826740954","https://openalex.org/W1943076864","https://openalex.org/W1967172064","https://openalex.org/W1974579840","https://openalex.org/W1975671633","https://openalex.org/W1985440868","https://openalex.org/W1990326157","https://openalex.org/W2022931717","https://openalex.org/W2029242918","https://openalex.org/W2033320243","https://openalex.org/W2039069560","https://openalex.org/W2044466855","https://openalex.org/W2046837279","https://openalex.org/W2052257324","https://openalex.org/W2061322208","https://openalex.org/W2074195549","https://openalex.org/W2074485628","https://openalex.org/W2081231516","https://openalex.org/W2082025713","https://openalex.org/W2082647601","https://openalex.org/W2084507157","https://openalex.org/W2095546721","https://openalex.org/W2117976840","https://openalex.org/W2118626795","https://openalex.org/W2123400420","https://openalex.org/W2124993036","https://openalex.org/W2154929945","https://openalex.org/W2162161511","https://openalex.org/W2163279429","https://openalex.org/W2163428398","https://openalex.org/W2165684624","https://openalex.org/W2245718195","https://openalex.org/W2302174052","https://openalex.org/W2338995958","https://openalex.org/W2515159839","https://openalex.org/W2555005230","https://openalex.org/W2584459811","https://openalex.org/W2591182809","https://openalex.org/W2600765363","https://openalex.org/W2613176386","https://openalex.org/W2623214827","https://openalex.org/W2740611651","https://openalex.org/W2743299839","https://openalex.org/W2750711431","https://openalex.org/W2752590451","https://openalex.org/W2996760632","https://openalex.org/W3019878414","https://openalex.org/W3035342403","https://openalex.org/W3105913416","https://openalex.org/W3150675349","https://openalex.org/W3159846780","https://openalex.org/W6636619826","https://openalex.org/W6703716962","https://openalex.org/W6743523306"],"related_works":["https://openalex.org/W3104020672","https://openalex.org/W1525389557","https://openalex.org/W2034551444","https://openalex.org/W3040845310","https://openalex.org/W2137674257","https://openalex.org/W3039382151","https://openalex.org/W2159992686","https://openalex.org/W1978872345","https://openalex.org/W2143361130","https://openalex.org/W3210047994"],"abstract_inverted_index":{"In":[0,75],"this":[1],"paper,":[2],"we":[3,45,84],"revisit":[4],"the":[5,14,32,55,58,66,71,79,135],"long-standing":[6],"Traveling":[7],"Salesman":[8],"Problem":[9],"(TSP)":[10],"and":[11,70,100,117],"focus":[12],"on":[13,110],"challenging,":[15],"yet":[16],"practical":[17],"route":[18,112],"planning":[19,113],"problem":[20],"with":[21,97,103],"limited":[22,104],"computational":[23,105],"resources.":[24],"We":[25],"make":[26],"contributions":[27],"to":[28,61,77,130,141],"TSP,":[29],"one":[30],"of":[31,57,68,81,134,138],"most":[33],"famous":[34],"NP-hard":[35],"problems":[36],"by":[37,64,128],"providing":[38],"a":[39],"new":[40],"improved":[41],"approximate":[42],"solution,":[43],"which":[44],"term":[46],"TOpology":[47],"Preserving":[48],"Self-Organizing":[49],"Map":[50],"(TOPSOM).":[51],"TOPSOM":[52,92],"well":[53],"preserves":[54],"topology":[56],"node":[59],"map":[60],"be":[62],"traversed":[63],"maintaining":[65],"continuity":[67],"nodes":[69],"distances":[72],"between":[73],"them.":[74],"addition,":[76],"satisfy":[78],"requirements":[80],"convex":[82],"hull,":[83],"design":[85],"an":[86],"elastic":[87],"competitive":[88],"Hebbian":[89],"learning":[90],"rule.":[91],"can":[93],"solve":[94],"large-scale":[95],"TSPs":[96],"high":[98,101],"precision":[99],"efficiency":[102],"costs.":[106],"Extensive":[107],"experimental":[108],"results":[109],"mainstream":[111],"benchmarks":[114],"including":[115],"TSPLIB":[116],"National":[118],"TSP\u2019s":[119],"show":[120],"that":[121],"our":[122],"method":[123],"consistently":[124],"outperforms":[125],"baseline":[126],"methods,":[127],"up":[129],"7.7%":[131],"in":[132],"terms":[133],"Percent":[136],"Deviation":[137],"Mean":[139],"solution":[140],"best":[142],"known":[143],"solution.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}