{"id":"https://openalex.org/W4386883446","doi":"https://doi.org/10.1109/rcar58764.2023.10249227","title":"Focused Bidirectional Search Trees: A Bidirectional Optimal Fast Matching Method for Robot Path Planning","display_name":"Focused Bidirectional Search Trees: A Bidirectional Optimal Fast Matching Method for Robot Path Planning","publication_year":2023,"publication_date":"2023-07-17","ids":{"openalex":"https://openalex.org/W4386883446","doi":"https://doi.org/10.1109/rcar58764.2023.10249227"},"language":"en","primary_location":{"id":"doi:10.1109/rcar58764.2023.10249227","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/rcar58764.2023.10249227","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100703818","display_name":"Chenming Li","orcid":"https://orcid.org/0000-0001-6322-0834"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chenming Li","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043461784","display_name":"Jiankun Wang","orcid":"https://orcid.org/0000-0001-9139-0291"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]},{"id":"https://openalex.org/I4210092870","display_name":"Jiaxing University","ror":"https://ror.org/00j2a7k55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092870"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiankun Wang","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","Jiaxing Research Institute, Southern University of Science and Technology, Jiaxing, China","Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Jiaxing Research Institute, Southern University of Science and Technology, Jiaxing, China","institution_ids":["https://openalex.org/I4210092870","https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CA","CN","HK"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","Department of Electrical and Computer Engineering, University of Alberta, Canada","Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China","Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Canada","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"638","last_page":"643"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9911999702453613,"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/T12288","display_name":"Optimization and Search Problems","score":0.9696999788284302,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/fast-marching-method","display_name":"Fast marching method","score":0.8015795946121216},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.753781795501709},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7040058970451355},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6159274578094482},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6115711331367493},{"id":"https://openalex.org/keywords/bidirectional-search","display_name":"Bidirectional search","score":0.6048434376716614},{"id":"https://openalex.org/keywords/vertex","display_name":"Vertex (graph theory)","score":0.5230725407600403},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5204765796661377},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.47816377878189087},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47301748394966125},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4664466083049774},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4536270201206207},{"id":"https://openalex.org/keywords/beam-search","display_name":"Beam search","score":0.44965386390686035},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.421532541513443},{"id":"https://openalex.org/keywords/brute-force","display_name":"Brute force","score":0.41366034746170044},{"id":"https://openalex.org/keywords/search-algorithm","display_name":"Search algorithm","score":0.41231268644332886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3672250807285309},{"id":"https://openalex.org/keywords/incremental-heuristic-search","display_name":"Incremental heuristic search","score":0.2920210361480713},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2288018763065338},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2248794138431549}],"concepts":[{"id":"https://openalex.org/C17866373","wikidata":"https://www.wikidata.org/wiki/Q5437042","display_name":"Fast marching method","level":2,"score":0.8015795946121216},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.753781795501709},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7040058970451355},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6159274578094482},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6115711331367493},{"id":"https://openalex.org/C831591","wikidata":"https://www.wikidata.org/wiki/Q59750","display_name":"Bidirectional search","level":5,"score":0.6048434376716614},{"id":"https://openalex.org/C80899671","wikidata":"https://www.wikidata.org/wiki/Q1304193","display_name":"Vertex (graph theory)","level":3,"score":0.5230725407600403},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5204765796661377},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.47816377878189087},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47301748394966125},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4664466083049774},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4536270201206207},{"id":"https://openalex.org/C19889080","wikidata":"https://www.wikidata.org/wiki/Q2835852","display_name":"Beam search","level":3,"score":0.44965386390686035},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.421532541513443},{"id":"https://openalex.org/C2986801135","wikidata":"https://www.wikidata.org/wiki/Q1209494","display_name":"Brute force","level":2,"score":0.41366034746170044},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.41231268644332886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3672250807285309},{"id":"https://openalex.org/C139979381","wikidata":"https://www.wikidata.org/wiki/Q17056021","display_name":"Incremental heuristic search","level":4,"score":0.2920210361480713},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2288018763065338},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2248794138431549},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar58764.2023.10249227","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/rcar58764.2023.10249227","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.699999988079071}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1539048696","https://openalex.org/W1864112212","https://openalex.org/W1971086298","https://openalex.org/W1982809790","https://openalex.org/W2054113582","https://openalex.org/W2110762409","https://openalex.org/W2140836772","https://openalex.org/W2141664020","https://openalex.org/W2288650507","https://openalex.org/W2566652907","https://openalex.org/W2747118187","https://openalex.org/W2805601327","https://openalex.org/W2890938544","https://openalex.org/W3002132318","https://openalex.org/W3004407706","https://openalex.org/W3011646207","https://openalex.org/W3144859763","https://openalex.org/W4212795265","https://openalex.org/W6605295560","https://openalex.org/W6681136635"],"related_works":["https://openalex.org/W58921990","https://openalex.org/W2402589461","https://openalex.org/W2358427436","https://openalex.org/W2081821176","https://openalex.org/W4390091683","https://openalex.org/W2747118187","https://openalex.org/W169590971","https://openalex.org/W2154416327","https://openalex.org/W2885402535","https://openalex.org/W4386883446"],"abstract_inverted_index":{"Robot":[0],"path":[1,44,185],"planning":[2,33,133,186],"in":[3,11,41,89,116,187],"high-dimensional":[4,188],"continuous":[5,189],"space":[6],"is":[7,27],"of":[8,49,92,104,122,156,163],"great":[9],"significance":[10],"robotics.":[12],"The":[13],"conventional":[14],"bidirectional":[15,36,111,171],"fast":[16,37,172],"marching":[17,38,173],"method":[18,145],"utilizes":[19],"brute-force":[20,79,112],"search":[21,39,85,174],"to":[22,70,87,146],"explore":[23],"the":[24,32,72,78,84,90,93,98,101,110,120,123,132,143,151,164,169],"space,":[25],"which":[26,96],"computationally":[28],"expensive.":[29],"Though":[30],"improving":[31],"efficiency,":[34],"heuristic-based":[35,170],"results":[40],"a":[42,46,65,137,178],"suboptimal":[43],"under":[45,100],"predetermined":[47],"number":[48],"random":[50],"samples.":[51],"To":[52],"address":[53],"these":[54],"issues,":[55],"we":[56],"propose":[57],"Focused":[58],"Bidirectional":[59],"Fast":[60],"Marching":[61],"Trees":[62],"(FBFMT*),":[63],"developing":[64],"novel":[66],"vertex":[67],"exploring":[68],"sequence":[69],"constrain":[71],"forward":[73,152],"and":[74,106,135,153,180],"backward":[75,154],"searches":[76,107,155],"within":[77],"searched":[80],"regions.":[81],"It":[82],"enables":[83],"trees":[86],"meet":[88,159],"middle":[91],"solution":[94],"path,":[95],"guarantees":[97],"optimality":[99],"current":[102],"set":[103],"samples":[105],"faster":[108],"than":[109],"strategy.":[113],"Extensive":[114],"simulations":[115],"different":[117],"scenarios":[118],"validate":[119],"superiority":[121],"proposed":[124,144],"method,":[125],"showing":[126],"that":[127,150,168],"FBFMT*":[128,157,166],"can":[129,158,176],"speed":[130],"up":[131],"process":[134],"find":[136],"better":[138],"solution.":[139],"We":[140],"also":[141],"extend":[142],"general":[147,179],"conditions":[148],"so":[149],"at":[160],"any":[161],"portion":[162],"path.":[165],"reveals":[167],"strategy":[175],"be":[177],"efficient":[181],"technique":[182],"for":[183],"robot":[184],"spaces.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
