{"id":"https://openalex.org/W1965870140","doi":"https://doi.org/10.1109/robio.2013.6739453","title":"Obstacle guided RRT path planner with region classification for changing environments","display_name":"Obstacle guided RRT path planner with region classification for changing environments","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W1965870140","doi":"https://doi.org/10.1109/robio.2013.6739453","mag":"1965870140"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5100410326","display_name":"Hong Liu","orcid":"https://orcid.org/0000-0002-7498-6541"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]},{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hong Liu","raw_affiliation_strings":["Engineering Laboratory on Intelligent Perception for Internet of Things (ELIP), Shenzhen Graduate School, Shenzhen, CHINA","Eng. Lab. on Intell. Perception for Internet of Things (ELIP), Peking Univ., Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Engineering Laboratory on Intelligent Perception for Internet of Things (ELIP), Shenzhen Graduate School, Shenzhen, CHINA","institution_ids":["https://openalex.org/I180726961"]},{"raw_affiliation_string":"Eng. Lab. on Intell. Perception for Internet of Things (ELIP), Peking Univ., Shenzhen, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112511350","display_name":"K. Bhaskara Rao","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Rao","raw_affiliation_strings":["Engineering Laboratory on Intelligent Perception for Internet of Things (ELIP), Peking University, Shenzhen, CHINA","Eng. Lab. on Intell. Perception for Internet of Things (ELIP), Peking Univ., Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Engineering Laboratory on Intelligent Perception for Internet of Things (ELIP), Peking University, Shenzhen, CHINA","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Eng. Lab. on Intell. Perception for Internet of Things (ELIP), Peking Univ., Shenzhen, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087199339","display_name":"Fang Xiao","orcid":"https://orcid.org/0000-0001-5800-2920"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Xiao","raw_affiliation_strings":["Engineering Laboratory on Intelligent Perception for Internet of Things (ELIP), Peking University, Shenzhen, CHINA","Eng. Lab. on Intell. Perception for Internet of Things (ELIP), Peking Univ., Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Engineering Laboratory on Intelligent Perception for Internet of Things (ELIP), Peking University, Shenzhen, CHINA","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Eng. Lab. on Intell. Perception for Internet of Things (ELIP), Peking Univ., Shenzhen, China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100410326"],"corresponding_institution_ids":["https://openalex.org/I180726961","https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":0.51986428,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.68830064,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9871000051498413,"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/T11106","display_name":"Data Management and Algorithms","score":0.9828000068664551,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/obstacle","display_name":"Obstacle","score":0.7380081415176392},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7277202606201172},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7053033709526062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.654339075088501},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.635450005531311},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.5608392357826233},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5302733182907104},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47877514362335205},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.45410192012786865},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40301308035850525},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.32817381620407104},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3276834487915039},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19583937525749207},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.08394801616668701},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08173108100891113}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7380081415176392},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7277202606201172},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7053033709526062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.654339075088501},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.635450005531311},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.5608392357826233},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5302733182907104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47877514362335205},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.45410192012786865},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40301308035850525},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32817381620407104},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3276834487915039},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19583937525749207},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.08394801616668701},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08173108100891113},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.46000000834465027,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1589443075","https://openalex.org/W1595414374","https://openalex.org/W2026612049","https://openalex.org/W2062123018","https://openalex.org/W2070617645","https://openalex.org/W2099593662","https://openalex.org/W2106473816","https://openalex.org/W2107892886","https://openalex.org/W2108643443","https://openalex.org/W2125503755","https://openalex.org/W2128990851","https://openalex.org/W2130403814","https://openalex.org/W2141664020","https://openalex.org/W2149780310","https://openalex.org/W2152128591","https://openalex.org/W2159722616","https://openalex.org/W2161675447","https://openalex.org/W2519453022","https://openalex.org/W6666223480","https://openalex.org/W6674861906","https://openalex.org/W6676022314","https://openalex.org/W6679184180","https://openalex.org/W6682124187"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W2394276631","https://openalex.org/W1987694097","https://openalex.org/W3158818664","https://openalex.org/W2797949337","https://openalex.org/W2863424594","https://openalex.org/W2372633663","https://openalex.org/W4388720133","https://openalex.org/W2564325388","https://openalex.org/W2108906364"],"abstract_inverted_index":{"The":[0],"Rapidly-exploring":[1],"Random":[2],"Tree":[3],"(RRT)":[4],"has":[5],"been":[6],"widely":[7],"used":[8,132],"to":[9,17,59,82,99,133],"solve":[10],"path":[11,62],"planning":[12],"problems":[13],"and":[14,39,111,120],"well":[15],"suited":[16],"lots":[18],"of":[19,47,71],"problem":[20],"domains":[21],"for":[22,102,117,124],"its":[23],"probabilistically":[24],"complete.":[25],"However,":[26],"it":[27],"is":[28,49,52,80,97,142],"not":[29],"so":[30],"rapid":[31],"in":[32,63,86,145],"changing":[33,64,146],"environments,":[34],"troubled":[35],"with":[36,89,105],"moving":[37],"obstacles":[38],"difficult":[40],"regions.":[41],"In":[42,138],"this":[43],"paper,":[44],"a":[45,61,69,94,114,135],"variant":[46],"RRT":[48,56],"proposed":[50],"which":[51],"called":[53],"obstacle":[54],"guided":[55],"(OG-RRT),":[57],"aiming":[58],"plan":[60],"environments":[65],"efficiently.":[66],"By":[67],"preserving":[68],"group":[70],"invalid":[72,110],"configurations":[73],"blocked":[74],"by":[75],"obstacles,":[76],"an":[77,121],"entropy":[78],"value":[79],"introduced":[81],"label":[83],"every":[84],"state":[85],"the":[87,100,107],"tree":[88],"region":[90],"classification":[91],"information.":[92],"Then":[93],"differentiation":[95],"strategy":[96,123],"adopted":[98],"framework":[101],"extending.":[103],"Finally,":[104],"recording":[106],"change":[108],"between":[109],"valid":[112],"nodes,":[113],"fuzzy":[115],"estimation":[116],"obstacles'":[118],"movements":[119],"opportunistic":[122],"reusing":[125],"information":[126],"from":[127],"previous":[128],"queries":[129],"will":[130],"be":[131],"replan":[134],"solution":[136],"fast.":[137],"plentiful":[139],"experiments,":[140],"OG-RRT":[141],"very":[143],"effective":[144],"environment.":[147]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
