{"id":"https://openalex.org/W4407373310","doi":"https://doi.org/10.1109/lra.2025.3540627","title":"Asymptotically Optimal Path Planning With an Approximation of the Omniscient Set","display_name":"Asymptotically Optimal Path Planning With an Approximation of the Omniscient Set","publication_year":2025,"publication_date":"2025-02-11","ids":{"openalex":"https://openalex.org/W4407373310","doi":"https://doi.org/10.1109/lra.2025.3540627"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3540627","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3540627","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2503.16164","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113693462","display_name":"Jaroslav K\u0159\u0131\u0301\u017e","orcid":null},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Jon\u00e1\u0161 K\u0159\u00ed\u017e","raw_affiliation_strings":["Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083101752","display_name":"Vojt\u011bch Von\u00e1sek","orcid":"https://orcid.org/0000-0001-9224-2151"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Vojt\u011bch Von\u00e1sek","raw_affiliation_strings":["Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5113693462"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":6.3799,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.9610151,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"10","issue":"4","first_page":"3214","last_page":"3221"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9815000295639038,"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.9646999835968018,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6199691295623779},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5696392059326172},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5129441618919373},{"id":"https://openalex.org/keywords/mathematical-economics","display_name":"Mathematical economics","score":0.49412301182746887},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.49307605624198914},{"id":"https://openalex.org/keywords/asymptotically-optimal-algorithm","display_name":"Asymptotically optimal algorithm","score":0.43690404295921326},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.3454661965370178},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.34154945611953735},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.33691203594207764}],"concepts":[{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6199691295623779},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5696392059326172},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5129441618919373},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.49412301182746887},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.49307605624198914},{"id":"https://openalex.org/C181789720","wikidata":"https://www.wikidata.org/wiki/Q4812191","display_name":"Asymptotically optimal algorithm","level":2,"score":0.43690404295921326},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.3454661965370178},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.34154945611953735},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33691203594207764},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3540627","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3540627","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:arXiv.org:2503.16164","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2503.16164","pdf_url":"https://arxiv.org/pdf/2503.16164","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2503.16164","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2503.16164","pdf_url":"https://arxiv.org/pdf/2503.16164","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G1110106242","display_name":null,"funder_award_id":"24-12360S","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"}],"funders":[{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1485487406","https://openalex.org/W1814533834","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W1987188608","https://openalex.org/W2013724094","https://openalex.org/W2025299767","https://openalex.org/W2055201760","https://openalex.org/W2084501107","https://openalex.org/W2086860466","https://openalex.org/W2132990760","https://openalex.org/W2211552581","https://openalex.org/W2248868695","https://openalex.org/W2288650507","https://openalex.org/W2557741120","https://openalex.org/W2751931265","https://openalex.org/W2909688514","https://openalex.org/W2933211032","https://openalex.org/W2963130659","https://openalex.org/W2963439114","https://openalex.org/W3002132318","https://openalex.org/W3011646207","https://openalex.org/W3091360778","https://openalex.org/W3102121895","https://openalex.org/W3102509322","https://openalex.org/W3103346840","https://openalex.org/W3120772201","https://openalex.org/W3181323247","https://openalex.org/W3207145466","https://openalex.org/W4212795265","https://openalex.org/W4243477301","https://openalex.org/W4283780127","https://openalex.org/W4286484425","https://openalex.org/W4388868804","https://openalex.org/W6676534494"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2980963558","https://openalex.org/W2163788280","https://openalex.org/W3148718598","https://openalex.org/W2012749513","https://openalex.org/W1882246857","https://openalex.org/W3103304230","https://openalex.org/W2185360082","https://openalex.org/W1992365905","https://openalex.org/W2367879005"],"abstract_inverted_index":{"The":[0,21,119,148],"asymptotically":[1],"optimal":[2,14,32],"version":[3],"of":[4,24,46,61,114,154],"Rapidly-exploring":[5],"Random":[6],"Tree":[7],"(RRT*)":[8],"is":[9,26,37,51],"often":[10],"used":[11],"to":[12,38,53,88,102],"find":[13],"paths":[15],"in":[16,142,157,160],"a":[17,44,78,127,143],"high-dimensional":[18],"configuration":[19,48,146,164],"space.":[20,147],"well-known":[22],"issue":[23],"RRT*":[25],"its":[27],"slow":[28],"convergence":[29,68],"towards":[30],"the":[31,47,59,62,75,90,104,115,123,132],"solution.":[33,118,134],"A":[34,66],"possible":[35],"solution":[36],"draw":[39],"random":[40],"samples":[41],"only":[42],"from":[43,131],"subset":[45],"space":[49],"that":[50,56],"known":[52],"contain":[54],"configurations":[55],"can":[57],"improve":[58],"cost":[60],"path":[63],"(omniscient":[64],"set).":[65],"fast":[67],"rate":[69],"may":[70],"be":[71],"achieved":[72],"by":[73,112,126],"approximating":[74],"omniscient":[76,91,105,124],"with":[77],"low-volume":[79],"set.":[80],"In":[81],"this":[82],"letter,":[83],"we":[84,100],"propose":[85,101],"new":[86],"methods":[87,94],"approximate":[89,103],"set":[92,106,125],"and":[93,140,162],"for":[95],"their":[96],"effective":[97],"sampling.":[98],"First,":[99],"using":[107],"several":[108],"(small)":[109],"hyperellipsoids":[110],"defined":[111],"sections":[113],"current":[116,133],"best":[117],"second":[120],"approach":[121],"approximates":[122],"convex":[128],"hull":[129],"computed":[130],"Both":[135],"approaches":[136,156],"ensure":[137],"asymptotical":[138],"optimality":[139],"work":[141],"general":[144],"n-dimensional":[145],"experiments":[149],"have":[150],"shown":[151],"superior":[152],"performance":[153],"our":[155],"multiple":[158],"scenarios":[159],"3D":[161],"6D":[163],"spaces.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-30T08:08:38.191290","created_date":"2025-02-12T00:00:00"}