{"id":"https://openalex.org/W4413156923","doi":"https://doi.org/10.1109/lra.2025.3598616","title":"APT*: Asymptotically Optimal Motion Planning via Adaptively Prolated Elliptical R-Nearest Neighbors","display_name":"APT*: Asymptotically Optimal Motion Planning via Adaptively Prolated Elliptical R-Nearest Neighbors","publication_year":2025,"publication_date":"2025-08-13","ids":{"openalex":"https://openalex.org/W4413156923","doi":"https://doi.org/10.1109/lra.2025.3598616"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3598616","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3598616","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://doi.org/10.1109/lra.2025.3598616","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111122200","display_name":"Liding Zhang","orcid":"https://orcid.org/0009-0007-0119-706X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Liding Zhang","raw_affiliation_strings":["School of Computation, Information and Technology (CIT), Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0009-0007-0119-706X","affiliations":[{"raw_affiliation_string":"School of Computation, Information and Technology (CIT), Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sicheng Wang","orcid":"https://orcid.org/0009-0008-0327-4791"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sicheng Wang","raw_affiliation_strings":["School of Computation, Information and Technology (CIT), Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0009-0008-0327-4791","affiliations":[{"raw_affiliation_string":"School of Computation, Information and Technology (CIT), Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054771935","display_name":"Kuanqi Cai","orcid":"https://orcid.org/0000-0002-3655-8116"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kuanqi Cai","raw_affiliation_strings":["School of Computation, Information and Technology (CIT), Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-3655-8116","affiliations":[{"raw_affiliation_string":"School of Computation, Information and Technology (CIT), Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060444894","display_name":"Zhenshan Bing","orcid":"https://orcid.org/0000-0002-0896-2517"},"institutions":[{"id":"https://openalex.org/I308837","display_name":"Suzhou University of Science and Technology","ror":"https://ror.org/04en8wb91","country_code":"CN","type":"education","lineage":["https://openalex.org/I308837"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"Zhenshan Bing","raw_affiliation_strings":["State Key Laboratory for Novel Software Technology and the School of Science and Technology, Nanjing University (Suzhou Campus), Suzhou, China","School of Computation, Information and Technology (CIT), Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-0896-2517","affiliations":[{"raw_affiliation_string":"State Key Laboratory for Novel Software Technology and the School of Science and Technology, Nanjing University (Suzhou Campus), Suzhou, China","institution_ids":["https://openalex.org/I308837"]},{"raw_affiliation_string":"School of Computation, Information and Technology (CIT), Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101299293","display_name":"Fan Wu","orcid":"https://orcid.org/0000-0001-5051-3005"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Fan Wu","raw_affiliation_strings":["School of Computation, Information and Technology (CIT), Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5051-3005","affiliations":[{"raw_affiliation_string":"School of Computation, Information and Technology (CIT), Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616949","display_name":"Chaoqun Wang","orcid":"https://orcid.org/0000-0001-5780-7284"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoqun Wang","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China","School of Control Science and Engineering, Shandong University, Shandong, China"],"raw_orcid":"https://orcid.org/0000-0001-5780-7284","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Shandong, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["School of Computation, Information and Technology (CIT), Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-7696-4955","affiliations":[{"raw_affiliation_string":"School of Computation, Information and Technology (CIT), Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["School of Computation, Information and Technology (CIT), Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4840-076X","affiliations":[{"raw_affiliation_string":"School of Computation, Information and Technology (CIT), Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5111122200"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":2.2665,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.89442225,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"10","issue":"10","first_page":"10242","last_page":"10249"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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":0.9991999864578247,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.998199999332428,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9905999898910522,"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/asymptotically-optimal-algorithm","display_name":"Asymptotically optimal algorithm","score":0.5764250755310059},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5425042510032654},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3896218240261078},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3701867163181305},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3304845094680786},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32449835538864136},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.32205522060394287},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2909167408943176}],"concepts":[{"id":"https://openalex.org/C181789720","wikidata":"https://www.wikidata.org/wiki/Q4812191","display_name":"Asymptotically optimal algorithm","level":2,"score":0.5764250755310059},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5425042510032654},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3896218240261078},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3701867163181305},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3304845094680786},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32449835538864136},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.32205522060394287},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2909167408943176}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2025.3598616","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3598616","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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:2508.19790","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2508.19790","pdf_url":"https://arxiv.org/pdf/2508.19790","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"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1793559","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1793559","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"article"}],"best_oa_location":{"id":"doi:10.1109/lra.2025.3598616","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3598616","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5899999737739563,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W630423399","https://openalex.org/W1864112212","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W2110762409","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2169528473","https://openalex.org/W2794663059","https://openalex.org/W2955697550","https://openalex.org/W2963130659","https://openalex.org/W3004407706","https://openalex.org/W3091360778","https://openalex.org/W3098336417","https://openalex.org/W4283780127","https://openalex.org/W4388868804","https://openalex.org/W4405785118","https://openalex.org/W4405786701","https://openalex.org/W4406079894","https://openalex.org/W4409581283","https://openalex.org/W4412619192"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Optimal":[0],"path":[1,73],"planning":[2,19],"aims":[3],"to":[4,13,69,102,122,160],"determine":[5],"a":[6,11,14,44,172],"sequence":[7],"of":[8,88,128],"states":[9],"from":[10,154],"start":[12],"goal":[15],"while":[16],"accounting":[17],"for":[18,130],"objectives.":[20],"Popular":[21],"methods":[22,121],"often":[23],"integrate":[24],"fixed":[25],"batch":[26,82],"sizes":[27,83],"and":[28,61,92,166],"neglect":[29],"information":[30],"on":[31,52,77,85],"obstacles,":[32],"which":[33],"is":[34],"not":[35],"problem-specific.":[36],"This":[37],"study":[38],"introduces":[39],"Adaptively":[40],"Prolated":[41],"Trees":[42,56],"(APT*),":[43],"novel":[45],"sampling-based":[46,150],"motion":[47],"planner":[48],"that":[49,98,145],"extends":[50],"based":[51,76,84],"Force":[53],"Direction":[54],"Informed":[55],"(FDIT*),":[57],"integrating":[58],"adaptive":[59],"batch-sizing":[60],"elliptical":[62],"<inline-formula":[63,155,161],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[64,156,162],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[65,157,163],"notation=\"LaTeX\">$r$</tex-math></inline-formula>-nearest":[66],"neighbor":[67,107,114],"modules":[68,117],"dynamically":[70],"modulate":[71],"the":[72,86,89,111,125,135],"searching":[74],"process":[75],"environmental":[78],"feedback.":[79],"APT*":[80,146],"adjusts":[81],"hypervolume":[87],"informed":[90],"sets":[91],"considers":[93],"vertices":[94,129],"as":[95],"electric":[96,126],"charges":[97,127],"obey":[99],"Coulomb's":[100],"law":[101],"define":[103],"virtual":[104],"forces":[105],"via":[106],"samples,":[108],"thereby":[109,133],"refining":[110],"prolate":[112,120],"nearest":[113],"selection.":[115],"These":[116],"employ":[118],"non-linear":[119],"adaptively":[123],"adjust":[124],"force":[131],"definition,":[132],"improving":[134],"convergence":[136],"rate":[137],"with":[138],"lower":[139],"solution":[140],"costs.":[141],"Comparative":[142],"analyses":[143],"show":[144],"outperforms":[147],"existing":[148],"single-query":[149],"planners":[151],"in":[152],"dimensions":[153],"notation=\"LaTeX\">$\\mathbb":[158,164],"{R}^{4}$</tex-math></inline-formula>":[159],"{R}^{16}$</tex-math></inline-formula>,":[165],"it":[167],"was":[168],"further":[169],"validated":[170],"through":[171],"real-world":[173],"robot":[174],"manipulation":[175],"task.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}