{"id":"https://openalex.org/W3149798409","doi":"https://doi.org/10.1109/iros51168.2021.9636243","title":"Exploration-RRT: A multi-objective Path Planning and Exploration Framework for Unknown and Unstructured Environments","display_name":"Exploration-RRT: A multi-objective Path Planning and Exploration Framework for Unknown and Unstructured Environments","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3149798409","doi":"https://doi.org/10.1109/iros51168.2021.9636243","mag":"3149798409"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636243","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636243","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":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-86608","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090279927","display_name":"Bj\u00f6rn Lindqvist","orcid":"https://orcid.org/0000-0003-3922-1735"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Bjorn Lindqvist","raw_affiliation_strings":["Robotics and Artificial Intelligence Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Artificial Intelligence Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042186658","display_name":"Ali\u2010akbar Agha\u2010mohammadi","orcid":"https://orcid.org/0000-0001-5509-1841"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali-Akbar Agha-Mohammadi","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064878830","display_name":"George Nikolakopoulos","orcid":"https://orcid.org/0000-0003-0126-1897"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"George Nikolakopoulos","raw_affiliation_strings":["Robotics and Artificial Intelligence Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Artificial Intelligence Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5090279927"],"corresponding_institution_ids":["https://openalex.org/I190632392"],"apc_list":null,"apc_paid":null,"fwci":2.6261,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.93080229,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3429","last_page":"3435"},"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":0.9994999766349792,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9927999973297119,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7007262110710144},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6573072671890259},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.6302685737609863},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6222459077835083},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5194405913352966},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5004985332489014},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41515886783599854},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.37371644377708435},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.36577147245407104},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.33667004108428955},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2122194468975067},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1885802447795868},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.0934935212135315}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7007262110710144},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6573072671890259},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.6302685737609863},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6222459077835083},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5194405913352966},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5004985332489014},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41515886783599854},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.37371644377708435},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.36577147245407104},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.33667004108428955},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2122194468975067},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1885802447795868},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0934935212135315},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9636243","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636243","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"},{"id":"pmh:oai:DiVA.org:ltu-86608","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-86608","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:ltu-86608","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-86608","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4399999976158142,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1514716220","https://openalex.org/W1969472392","https://openalex.org/W1977085960","https://openalex.org/W1996985406","https://openalex.org/W2016930536","https://openalex.org/W2036439337","https://openalex.org/W2076518796","https://openalex.org/W2107464713","https://openalex.org/W2121866178","https://openalex.org/W2165049137","https://openalex.org/W2244356571","https://openalex.org/W2254288984","https://openalex.org/W2335799662","https://openalex.org/W2409009991","https://openalex.org/W2468618434","https://openalex.org/W2559613836","https://openalex.org/W2598708258","https://openalex.org/W2752574553","https://openalex.org/W2789773866","https://openalex.org/W2794292089","https://openalex.org/W2808115698","https://openalex.org/W2892746432","https://openalex.org/W2901136733","https://openalex.org/W2903902823","https://openalex.org/W2910054127","https://openalex.org/W3045462839","https://openalex.org/W3080195572","https://openalex.org/W3090360675","https://openalex.org/W3091238768","https://openalex.org/W3100741063","https://openalex.org/W3112226520","https://openalex.org/W3115965176","https://openalex.org/W3126614957","https://openalex.org/W3129245057","https://openalex.org/W3155850785","https://openalex.org/W3173423885","https://openalex.org/W6605295560","https://openalex.org/W6691621831","https://openalex.org/W6755286842","https://openalex.org/W6756486208","https://openalex.org/W6780411392"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W1987694097","https://openalex.org/W3158818664","https://openalex.org/W2797949337","https://openalex.org/W2359600231","https://openalex.org/W2372633663","https://openalex.org/W2863424594","https://openalex.org/W2380019117","https://openalex.org/W4388720133","https://openalex.org/W1660309994"],"abstract_inverted_index":{"This":[0],"article":[1],"establishes":[2],"the":[3,63,67,71,82,87,91,97,101,107,113,140],"Exploration-RRT":[4,24],"algorithm:":[5],"A":[6],"novel":[7,45],"general-purpose":[8],"combined":[9],"exploration":[10,34],"and":[11,41,55,70,86,106,110,150],"path":[12],"planning":[13],"algorithm,":[14],"based":[15,49],"on":[16,50,119],"a":[17,51,131,135,144],"multi-goal":[18],"Rapidly-Exploring":[19],"Random":[20],"Trees":[21],"(RRT)":[22],"framework.":[23],"(ERRT)":[25],"has":[26],"been":[27],"specifically":[28],"designed":[29],"for":[30],"utilization":[31],"in":[32,134],"3D":[33,132],"missions,":[35],"with":[36,122,130,139],"partially":[37],"or":[38],"completely":[39,145],"unknown":[40,146],"unstructured":[42],"environments.":[43],"The":[44],"proposed":[46,114],"ERRT":[47,102],"is":[48,57],"multi-objective":[52],"optimization":[53],"framework":[54],"it":[56],"able":[58],"to":[59,76],"take":[60],"under":[61],"consideration":[62],"potential":[64],"information":[65],"gain,":[66],"distance":[68],"travelled,":[69],"actuation":[72],"costs,":[73],"along":[74],"trajectories":[75],"pseudorandom":[77],"goals,":[78],"generated":[79],"from":[80],"considering":[81],"on-board":[83],"sensor":[84],"model":[85,89],"non-linear":[88],"of":[90,100,112,142],"utilized":[92],"platform.":[93],"In":[94],"this":[95],"article,":[96],"algorithmic":[98],"pipeline":[99],"will":[103,116],"be":[104,117],"established":[105],"overall":[108],"applicability":[109],"efficiency":[111],"scheme":[115],"presented":[118],"an":[120,123],"application":[121],"Unmanned":[124],"Aerial":[125],"Vehicle":[126],"(UAV)":[127],"model,":[128],"equipped":[129],"lidar,":[133],"simulated":[136],"operating":[137],"environment,":[138],"goal":[141],"exploring":[143],"area":[147],"as":[148,152],"efficiently":[149],"quickly":[151],"possible.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":3}],"updated_date":"2026-04-25T08:17:42.794288","created_date":"2025-10-10T00:00:00"}