{"id":"https://openalex.org/W4391128504","doi":"https://doi.org/10.1109/lra.2024.3357311","title":"PRIEST: Projection Guided Sampling-Based Optimization for Autonomous Navigation","display_name":"PRIEST: Projection Guided Sampling-Based Optimization for Autonomous Navigation","publication_year":2024,"publication_date":"2024-01-23","ids":{"openalex":"https://openalex.org/W4391128504","doi":"https://doi.org/10.1109/lra.2024.3357311"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3357311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3357311","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lirias.kuleuven.be/retrieve/364372e3-72a3-4107-9343-9e5d240a3722","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008375296","display_name":"Fatemeh Rastgar","orcid":"https://orcid.org/0009-0009-8187-5549"},"institutions":[{"id":"https://openalex.org/I56085075","display_name":"University of Tartu","ror":"https://ror.org/03z77qz90","country_code":"EE","type":"education","lineage":["https://openalex.org/I56085075"]}],"countries":["EE"],"is_corresponding":true,"raw_author_name":"Fatemeh Rastgar","raw_affiliation_strings":["Institute of Science and Technology, University of Tartu, Tartu, Estonia"],"raw_orcid":"https://orcid.org/0009-0009-8187-5549","affiliations":[{"raw_affiliation_string":"Institute of Science and Technology, University of Tartu, Tartu, Estonia","institution_ids":["https://openalex.org/I56085075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065839308","display_name":"Houman Masnavi","orcid":"https://orcid.org/0000-0003-2140-9641"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Houman Masnavi","raw_affiliation_strings":["Toronto Metropolitan University, Toronto, Canada"],"raw_orcid":"https://orcid.org/0000-0003-2140-9641","affiliations":[{"raw_affiliation_string":"Toronto Metropolitan University, Toronto, Canada","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101574513","display_name":"Basant Sharma","orcid":"https://orcid.org/0000-0002-5692-0231"},"institutions":[{"id":"https://openalex.org/I56085075","display_name":"University of Tartu","ror":"https://ror.org/03z77qz90","country_code":"EE","type":"education","lineage":["https://openalex.org/I56085075"]}],"countries":["EE"],"is_corresponding":false,"raw_author_name":"Basant Sharma","raw_affiliation_strings":["Institute of Science and Technology, University of Tartu, Tartu, Estonia"],"raw_orcid":"https://orcid.org/0000-0002-5692-0231","affiliations":[{"raw_affiliation_string":"Institute of Science and Technology, University of Tartu, Tartu, Estonia","institution_ids":["https://openalex.org/I56085075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057770174","display_name":"Alvo Aabloo","orcid":"https://orcid.org/0000-0002-0183-1282"},"institutions":[{"id":"https://openalex.org/I56085075","display_name":"University of Tartu","ror":"https://ror.org/03z77qz90","country_code":"EE","type":"education","lineage":["https://openalex.org/I56085075"]}],"countries":["EE"],"is_corresponding":false,"raw_author_name":"Alvo Aabloo","raw_affiliation_strings":["Institute of Science and Technology, University of Tartu, Tartu, Estonia"],"raw_orcid":"https://orcid.org/0000-0002-0183-1282","affiliations":[{"raw_affiliation_string":"Institute of Science and Technology, University of Tartu, Tartu, Estonia","institution_ids":["https://openalex.org/I56085075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021674650","display_name":"Jan Swevers","orcid":"https://orcid.org/0000-0003-2034-5519"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Jan Swevers","raw_affiliation_strings":["Mechanical Engineering Department, KU Leuven University, Leuven, Belgium","Mechanical Engineering department, KU Leuven University and Flanders Make KU Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0003-2034-5519","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, KU Leuven University, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Mechanical Engineering department, KU Leuven University and Flanders Make KU Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083895630","display_name":"Arun Kumar Singh","orcid":"https://orcid.org/0000-0003-1704-7932"},"institutions":[{"id":"https://openalex.org/I56085075","display_name":"University of Tartu","ror":"https://ror.org/03z77qz90","country_code":"EE","type":"education","lineage":["https://openalex.org/I56085075"]}],"countries":["EE"],"is_corresponding":false,"raw_author_name":"Arun Kumar Singh","raw_affiliation_strings":["Institute of Science and Technology, University of Tartu, Tartu, Estonia"],"raw_orcid":"https://orcid.org/0000-0003-1704-7932","affiliations":[{"raw_affiliation_string":"Institute of Science and Technology, University of Tartu, Tartu, Estonia","institution_ids":["https://openalex.org/I56085075"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5008375296"],"corresponding_institution_ids":["https://openalex.org/I56085075"],"apc_list":null,"apc_paid":null,"fwci":1.6665,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.83999023,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"3","first_page":"2630","last_page":"2637"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9945999979972839,"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":0.9945999979972839,"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":0.9397000074386597,"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/projection","display_name":"Projection (relational algebra)","score":0.5955065488815308},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5693604946136475},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5654756426811218},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5138118863105774},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4210798144340515},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.32254308462142944},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14030790328979492}],"concepts":[{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.5955065488815308},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5693604946136475},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5654756426811218},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5138118863105774},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4210798144340515},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.32254308462142944},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14030790328979492},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3357311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3357311","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/732847","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/732847","pdf_url":"https://lirias.kuleuven.be/retrieve/364372e3-72a3-4107-9343-9e5d240a3722","source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"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":"IEEE Robotics and Automation Letters, vol. 9 (3), (2630-2637)","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/732847","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/732847","pdf_url":"https://lirias.kuleuven.be/retrieve/364372e3-72a3-4107-9343-9e5d240a3722","source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"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":"IEEE Robotics and Automation Letters, vol. 9 (3), (2630-2637)","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G798628753","display_name":null,"funder_award_id":"PSG753","funder_id":"https://openalex.org/F4320321090","funder_display_name":"Eesti Teadusagentuur"}],"funders":[{"id":"https://openalex.org/F4320321090","display_name":"Eesti Teadusagentuur","ror":"https://ror.org/00jjeja18"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391128504.pdf"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W2117211893","https://openalex.org/W2139774022","https://openalex.org/W2584986912","https://openalex.org/W2774451424","https://openalex.org/W2786036844","https://openalex.org/W3049162991","https://openalex.org/W3122878979","https://openalex.org/W3131343079","https://openalex.org/W3132657937","https://openalex.org/W4200632900","https://openalex.org/W4226176749","https://openalex.org/W4226524835","https://openalex.org/W4284898023","https://openalex.org/W4285250753","https://openalex.org/W4290061843","https://openalex.org/W4382935956","https://openalex.org/W4383097364","https://openalex.org/W4383109321","https://openalex.org/W4387609198","https://openalex.org/W4389665379","https://openalex.org/W4389666980","https://openalex.org/W6705072498","https://openalex.org/W6747827861","https://openalex.org/W6754113743","https://openalex.org/W6756486208","https://openalex.org/W6776444479","https://openalex.org/W6801436214","https://openalex.org/W6805309810","https://openalex.org/W6841489718","https://openalex.org/W6847187116"],"related_works":["https://openalex.org/W2755342338","https://openalex.org/W2058170566","https://openalex.org/W2036807459","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2772917594","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2079911747"],"abstract_inverted_index":{"Efficient":[0],"navigation":[1,133,186],"in":[2,43,118,127,147,155],"unknown":[3],"and":[4,150,164,179,212],"dynamic":[5],"environments":[6],"is":[7,190],"crucial":[8],"for":[9,29,72],"expanding":[10],"the":[11,22,78,83,93,107,114,119,124,128,132,136,161,208],"application":[12],"domain":[13],"of":[14,24,135,145],"mobile":[15],"robots.":[16],"The":[17],"core":[18],"challenge":[19],"stems":[20],"from":[21,106],"non-availability":[23],"a":[25,35,52,88,96,100],"feasible":[26,97],"global":[27],"path":[28,176],"guiding":[30],"optimization-based":[31],"local":[32,38,45],"planners.":[33],"As":[34,99],"result,":[36,101],"existing":[37],"planners":[39],"often":[40],"get":[41],"trapped":[42],"poor":[44],"minima.":[46],"In":[47],"this":[48],"paper,":[49],"we":[50,141],"present":[51],"novel":[53],"optimizer":[54,189],"that":[55,91],"can":[56,104],"explore":[57],"multiple":[58],"homotopies":[59],"to":[60,152,170,192],"plan":[61],"high-quality":[62],"trajectories":[63,116],"over":[64,173],"long":[65],"horizons":[66],"while":[67],"still":[68],"being":[69],"fast":[70],"enough":[71],"real-time":[73],"applications.":[74],"We":[75,122],"build":[76],"on":[77],"gradient-free":[79],"paradigm":[80],"by":[81],"augmenting":[82],"trajectory":[84],"sampling":[85],"strategy":[86],"with":[87],"projection":[89],"optimization":[90],"guides":[92],"samples":[94],"toward":[95],"region.":[98,121],"our":[102,166,188],"method":[103],"recover":[105],"frequently":[108],"encountered":[109],"pathological":[110],"cases":[111],"wherein":[112],"all":[113],"sampled":[115],"lie":[117],"high-cost":[120],"push":[123],"state-of-the-art":[125],"(SOTA)":[126],"following":[129],"respects.":[130],"Over":[131],"stack":[134],"Robot":[137],"Operating":[138],"System":[139],"(ROS),":[140],"show":[142],"an":[143],"improvement":[144,172],"7-13%":[146],"success":[148],"rate":[149],"up":[151,169,191],"two":[153,193],"times":[154,194],"total":[156],"travel":[157],"time":[158],"metric.":[159],"On":[160,183],"same":[162],"benchmarks":[163],"metrics,":[165],"approach":[167],"achieves":[168],"44%":[171],"model":[174],"predictive":[175],"integral":[177],"(MPPI)":[178],"its":[180],"recent":[181],"variants.":[182],"simple":[184],"point-to-point":[185],"tasks,":[187],"more":[195],"reliable":[196],"than":[197],"SOTA":[198],"gradient-based":[199],"solvers,":[200],"as":[201,203,207],"well":[202],"sampling-based":[204],"approaches":[205],"such":[206],"Cross-Entropy":[209],"Method":[210],"(CEM)":[211],"VPSTO.":[213],"Codes:":[214],"<uri":[215],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[216],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/fatemeh-rastgar/PRIEST</uri>":[217]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
