{"id":"https://openalex.org/W4416368380","doi":"https://doi.org/10.1109/lra.2025.3634925","title":"SR-Planner: Sampling-Based Path Planning With Feasibility-Aware Focus Regions and Robust Trajectory Optimization for Mobile Manipulator","display_name":"SR-Planner: Sampling-Based Path Planning With Feasibility-Aware Focus Regions and Robust Trajectory Optimization for Mobile Manipulator","publication_year":2025,"publication_date":"2025-11-19","ids":{"openalex":"https://openalex.org/W4416368380","doi":"https://doi.org/10.1109/lra.2025.3634925"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3634925","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3634925","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081433919","display_name":"Shuhang Wang","orcid":"https://orcid.org/0000-0002-9386-4232"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shuhang Wang","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103871674","display_name":"Le Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Le Zheng","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009381033","display_name":"Yiming Zeng","orcid":"https://orcid.org/0000-0003-2935-4067"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Zeng","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101409148","display_name":"Hui Cheng","orcid":"https://orcid.org/0000-0003-2579-7004"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Cheng","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5081433919"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38195932,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"1","first_page":"962","last_page":"969"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9623000025749207,"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":0.9623000025749207,"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":0.004399999976158142,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.0034000000450760126,"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/motion-planning","display_name":"Motion planning","score":0.7900999784469604},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.7014999985694885},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6779999732971191},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6304000020027161},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5792999863624573},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5465999841690063},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.48570001125335693},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45399999618530273},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4528999924659729}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7900999784469604},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.7014999985694885},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6779999732971191},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6438999772071838},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6304000020027161},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5792999863624573},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5465999841690063},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.48570001125335693},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4544999897480011},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45399999618530273},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4528999924659729},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.4212999939918518},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41370001435279846},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3434999883174896},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.3260999917984009},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.31349998712539673},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.30869999527931213},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.3021000027656555},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29899999499320984},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.2924000024795532},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.2851000130176544},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.2759000062942505},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.27239999175071716},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2590000033378601}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3634925","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3634925","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W135651235","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W1978239298","https://openalex.org/W2012231377","https://openalex.org/W2012320692","https://openalex.org/W2019965290","https://openalex.org/W2022772618","https://openalex.org/W2051434435","https://openalex.org/W2078409719","https://openalex.org/W2087617385","https://openalex.org/W2099893201","https://openalex.org/W2288650507","https://openalex.org/W3004407706","https://openalex.org/W3042275200","https://openalex.org/W3042402313","https://openalex.org/W3043256667","https://openalex.org/W3104753760","https://openalex.org/W3130930520","https://openalex.org/W3131933472","https://openalex.org/W3135798748","https://openalex.org/W3148610713","https://openalex.org/W4285021652","https://openalex.org/W4392826353","https://openalex.org/W4401413720","https://openalex.org/W4416749256"],"related_works":[],"abstract_inverted_index":{"High-quality":[0],"motion":[1,52],"planning":[2,53],"for":[3,55,71],"mobile":[4,56],"manipulators":[5],"remains":[6],"a":[7,50,63,76],"challenging":[8],"task":[9],"due":[10],"to":[11,86],"the":[12,30,33],"high":[13],"dimensionality":[14],"and":[15,29,36,75,82,96,109,112],"complex":[16],"constraints":[17],"involved.":[18],"While":[19],"existing":[20],"methods":[21],"perform":[22],"well":[23],"in":[24,40,89,94],"specific":[25],"scenarios,":[26],"their":[27],"efficiency":[28],"quality":[31],"of":[32,60],"resulting":[34],"paths":[35],"trajectories":[37],"often":[38],"degrade":[39],"dense":[41],"or":[42],"irregular":[43],"environments.":[44,121],"In":[45],"this":[46],"paper,":[47],"we":[48],"propose":[49],"unified":[51],"framework":[54],"manipulators.":[57],"It":[58],"consists":[59],"two":[61],"parts:":[62],"sampling-based":[64],"path":[65,73,111],"planner":[66],"with":[67],"feasibility-aware":[68],"focus":[69],"regions":[70],"efficient":[72],"generation,":[74],"WA-QN":[77],"optimizer":[78],"that":[79,100],"adaptively":[80],"filters":[81],"aggregates":[83],"curvature":[84],"information":[85],"enhance":[87],"convergence":[88],"high-dimensional":[90],"spaces.":[91],"Comprehensive":[92],"experiments":[93],"simulated":[95],"real-world":[97],"scenarios":[98],"demonstrate":[99],"our":[101],"method":[102],"achieves":[103],"faster":[104],"planning,":[105],"higher":[106],"success":[107],"rates,":[108],"superior":[110],"trajectory":[113],"quality,":[114],"while":[115],"exhibiting":[116],"strong":[117],"generalization":[118],"across":[119],"diverse":[120]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-19T00:00:00"}