{"id":"https://openalex.org/W7123351972","doi":"https://doi.org/10.1109/lra.2026.3653375","title":"RUSH: Recursive and Scalable 3D Coarse to Fine Path Planning","display_name":"RUSH: Recursive and Scalable 3D Coarse to Fine Path Planning","publication_year":2026,"publication_date":"2026-01-12","ids":{"openalex":"https://openalex.org/W7123351972","doi":"https://doi.org/10.1109/lra.2026.3653375"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3653375","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653375","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/A5018486465","display_name":"H. Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hwajung Lee","raw_affiliation_strings":["Department of Intelligent Robotics, Sungkyunkwan University, Suwon, South Korea"],"raw_orcid":"https://orcid.org/0009-0003-2546-3167","affiliations":[{"raw_affiliation_string":"Department of Intelligent Robotics, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122843744","display_name":"Daegeol Ko","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Daegeol Ko","raw_affiliation_strings":["Department of Intelligent Robotics, Sungkyunkwan University, Suwon, South Korea"],"raw_orcid":"https://orcid.org/0009-0003-1599-2030","affiliations":[{"raw_affiliation_string":"Department of Intelligent Robotics, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045529310","display_name":"Jaehyuk Hur","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaehyuk Hur","raw_affiliation_strings":["Department of Intelligent Robotics, Sungkyunkwan University, Suwon, South Korea"],"raw_orcid":"https://orcid.org/0009-0005-7709-8530","affiliations":[{"raw_affiliation_string":"Department of Intelligent Robotics, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122897686","display_name":"Junwon Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Junwon Lee","raw_affiliation_strings":["School of Electronic and Electrical Engineering, Sungkyunkwan University, Suwon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113075049","display_name":"Seongbo Ha","orcid":"https://orcid.org/0009-0007-7018-1598"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seongbo Ha","raw_affiliation_strings":["Department of Intelligent Robotics, Sungkyunkwan University, Suwon, South Korea"],"raw_orcid":"https://orcid.org/0009-0007-7018-1598","affiliations":[{"raw_affiliation_string":"Department of Intelligent Robotics, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063908850","display_name":"Jong Hwan Ko","orcid":"https://orcid.org/0000-0003-4434-4318"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong Hwan Ko","raw_affiliation_strings":["School of Electronic and Electrical Engineering, Sungkyunkwan University, Suwon, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-4434-4318","affiliations":[{"raw_affiliation_string":"School of Electronic and Electrical Engineering, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060844581","display_name":"Hyeonwoo Yu","orcid":"https://orcid.org/0000-0002-9505-7581"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyeonwoo Yu","raw_affiliation_strings":["Department of Intelligent Robotics, Sungkyunkwan University, Suwon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-9505-7581","affiliations":[{"raw_affiliation_string":"Department of Intelligent Robotics, Sungkyunkwan University, Suwon, South Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I848706"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.04410454,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"2","first_page":"2346","last_page":"2353"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8712000250816345,"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":0.8712000250816345,"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":0.03189999982714653,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.013500000350177288,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7379000186920166},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7378000020980835},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.6980999708175659},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6840000152587891},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6340000033378601},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.4447999894618988},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.415800005197525},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.4025000035762787}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7379000186920166},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7378000020980835},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.6980999708175659},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6840000152587891},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6636999845504761},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6340000033378601},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.534500002861023},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.4447999894618988},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4440999925136566},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.415800005197525},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.4025000035762787},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.400299996137619},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35670000314712524},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.3522000014781952},{"id":"https://openalex.org/C147297375","wikidata":"https://www.wikidata.org/wiki/Q6674930","display_name":"Look-ahead","level":2,"score":0.34290000796318054},{"id":"https://openalex.org/C3019099447","wikidata":"https://www.wikidata.org/wiki/Q19768","display_name":"Tool path","level":3,"score":0.30640000104904175},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.29420000314712524},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.2939999997615814},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.2913999855518341},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.2890999913215637},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.287200003862381},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.28380000591278076},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.2791999876499176},{"id":"https://openalex.org/C108010975","wikidata":"https://www.wikidata.org/wiki/Q500094","display_name":"Pruning","level":2,"score":0.2728999853134155},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2721000015735626},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.25920000672340393}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3653375","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653375","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":[{"display_name":"Sustainable cities and communities","score":0.6386017799377441,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1031033085","display_name":null,"funder_award_id":"RS-2025-25463654","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"},{"id":"https://openalex.org/G7455216681","display_name":null,"funder_award_id":"P008922","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"},{"id":"https://openalex.org/G8226130250","display_name":null,"funder_award_id":"RS-2024-00508191","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"},{"id":"https://openalex.org/G8615691169","display_name":null,"funder_award_id":"RS-2024-00359937","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W2073791322","https://openalex.org/W2142971832","https://openalex.org/W2760103357","https://openalex.org/W2883212430","https://openalex.org/W2963155035","https://openalex.org/W2991216808","https://openalex.org/W3091337047","https://openalex.org/W3104753760","https://openalex.org/W3199632056","https://openalex.org/W4253729359","https://openalex.org/W4309676931","https://openalex.org/W4312366598","https://openalex.org/W4312441173","https://openalex.org/W4389665935","https://openalex.org/W4402354045","https://openalex.org/W4403337227","https://openalex.org/W4405785439","https://openalex.org/W4405785648","https://openalex.org/W4405786461","https://openalex.org/W4410886966","https://openalex.org/W4413945022","https://openalex.org/W4414050905","https://openalex.org/W4415593655"],"related_works":[],"abstract_inverted_index":{"Path":[0,32],"planning":[1,45,177],"in":[2,60,178],"large-scale,":[3],"complex":[4],"3D":[5,26,96,180],"environments":[6],"is":[7],"fundamentally":[8],"constrained":[9],"by":[10,52,66,77,102],"a":[11,34,48,67,122,140,144,151,166],"trade-off":[12],"between":[13],"path":[14,76,152,176],"quality":[15],"and":[16,24,116,168],"computational":[17],"speed.":[18],"This":[19,85,160],"paper":[20],"presents":[21],"RUSH":[22,41,88,129,164],"(Recursive":[23],"Scalable":[25],"<italic":[27],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[28],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Coarse":[29],"To":[30],"Fine</i>":[31],"Planning),":[33],"hierarchical":[35],"framework":[36],"that":[37,56,71,128],"resolves":[38],"this":[39],"trade-off.":[40],"decomposes":[42],"the":[43,103,157],"long-range":[44],"task":[46],"into":[47],"coarse":[49],"plan":[50],"followed":[51],"fine-grained,":[53],"independent":[54],"subproblems":[55,63],"can":[57],"be":[58],"solved":[59],"parallel.":[61],"These":[62],"are":[64],"addressed":[65],"unified,":[68],"diffusion-based":[69],"network":[70],"refines":[72],"an":[73,82],"initial":[74],"estimate":[75],"learning":[78],"its":[79],"residual":[80],"to":[81,89,139],"optimal":[83,158],"path.":[84],"approach":[86],"allows":[87],"leverage":[90],"rich":[91],"geometric":[92],"information":[93],"directly":[94],"from":[95],"voxel":[97],"maps":[98],"without":[99],"being":[100],"bottlenecked":[101],"full":[104],"map's":[105],"complexity.":[106],"We":[107],"validate":[108],"our":[109],"method":[110],"on":[111],"large-scale":[112,179],"outdoor":[113],"(KITTI,":[114],"MulRan)":[115],"indoor":[117],"(HM3D)":[118],"datasets,":[119],"each":[120],"spanning":[121],"200m\u00d7200m\u00d76m":[123],"map.":[124],"Experimental":[125],"results":[126],"demonstrate":[127],"generates":[130],"feasible,":[131],"high-quality":[132],"paths":[133],"with":[134],"remarkable":[135],"efficiency,":[136],"achieving":[137],"up":[138],"12.59\u00d7":[141],"speedup":[142],"over":[143],"hierarchically":[145],"accelerated":[146],"A*":[147],"baseline,":[148],"while":[149],"maintaining":[150],"cost":[153],"within":[154],"24%":[155],"of":[156],"solution.":[159],"performance":[161],"gain":[162],"positions":[163],"as":[165],"powerful":[167],"practical":[169],"solution":[170],"for":[171],"applications":[172],"requiring":[173],"rapid":[174],"global":[175],"maps.":[181]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2026-01-14T00:00:00"}
