{"id":"https://openalex.org/W2021464228","doi":"https://doi.org/10.1109/robio.2013.6739744","title":"Adaptive Potential guided directional-RRT*","display_name":"Adaptive Potential guided directional-RRT*","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2021464228","doi":"https://doi.org/10.1109/robio.2013.6739744","mag":"2021464228"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739744","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":"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/A5056336556","display_name":"Ahmed H. Qureshi","orcid":"https://orcid.org/0000-0003-2104-2333"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Ahmed Hussain Qureshi","raw_affiliation_strings":["RISE lab, School of Mechanical And Manufacturing Engineering, NUST, Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RISE lab, School of Mechanical And Manufacturing Engineering, NUST, Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Saba Mumtaz","orcid":null},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Saba Mumtaz","raw_affiliation_strings":["RISE lab, School of Mechanical And Manufacturing Engineering, NUST, Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RISE lab, School of Mechanical And Manufacturing Engineering, NUST, Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020632614","display_name":"Khawaja Fahad Iqbal","orcid":"https://orcid.org/0000-0001-6711-2574"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Khawaja Fahad Iqbal","raw_affiliation_strings":["RISE lab, School of Mechanical And Manufacturing Engineering, NUST, Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RISE lab, School of Mechanical And Manufacturing Engineering, NUST, Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038955549","display_name":"Badar Ali","orcid":null},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Badar Ali","raw_affiliation_strings":["RISE lab, School of Mechanical And Manufacturing Engineering, NUST, Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RISE lab, School of Mechanical And Manufacturing Engineering, NUST, Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084911559","display_name":"Yasar Ayaz","orcid":"https://orcid.org/0000-0001-8495-5733"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Yasar Ayaz","raw_affiliation_strings":["RISE lab, School of Mechanical And Manufacturing Engineering, NUST, Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RISE lab, School of Mechanical And Manufacturing Engineering, NUST, Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089107604","display_name":"Faizan Ahmed","orcid":"https://orcid.org/0000-0002-2760-6892"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Faizan Ahmed","raw_affiliation_strings":["RISE lab, School of Mechanical And Manufacturing Engineering, NUST, Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RISE lab, School of Mechanical And Manufacturing Engineering, NUST, Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088729266","display_name":"Mannan Saeed Muhammad","orcid":"https://orcid.org/0000-0002-3036-4660"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Mannan Saeed Muhammad","raw_affiliation_strings":["IE Lab., Department of Electronic Engineering, College of Engineering, Hanyang University, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IE Lab., Department of Electronic Engineering, College of Engineering, Hanyang University, Seoul, Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066768973","display_name":"Osman Hasan","orcid":"https://orcid.org/0000-0003-2562-2669"},"institutions":[{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Osman Hasan","raw_affiliation_strings":["School of Electrical Engineering and Computer Sciences, NUST, Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Sciences, NUST, Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103866265","display_name":"Whoi Yul Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Whoi Yul Kim","raw_affiliation_strings":["IE Lab., Department of Electronic Engineering, College of Engineering, Hanyang University, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IE Lab., Department of Electronic Engineering, College of Engineering, Hanyang University, Seoul, Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074970479","display_name":"Moonsoo Ra","orcid":"https://orcid.org/0000-0003-4587-1136"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Moonsoo Ra","raw_affiliation_strings":["IE Lab., Department of Electronic Engineering, College of Engineering, Hanyang University, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IE Lab., Department of Electronic Engineering, College of Engineering, Hanyang University, Seoul, Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2473,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.83032407,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1887","last_page":"1892"},"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":0.9987000226974487,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/random-tree","display_name":"Random tree","score":0.7735930681228638},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.726700484752655},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6647862195968628},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5752487778663635},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4916585087776184},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.46804022789001465},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34408867359161377},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24932780861854553},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24204498529434204},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.2096099555492401},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07190394401550293}],"concepts":[{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.7735930681228638},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.726700484752655},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6647862195968628},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5752487778663635},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4916585087776184},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.46804022789001465},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34408867359161377},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24932780861854553},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24204498529434204},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2096099555492401},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07190394401550293},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739744","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1971086298","https://openalex.org/W2000359213","https://openalex.org/W2096435491","https://openalex.org/W2103120971","https://openalex.org/W2112271657","https://openalex.org/W2113823172","https://openalex.org/W2115904688","https://openalex.org/W2126162505","https://openalex.org/W2128990851","https://openalex.org/W2129927067","https://openalex.org/W2157543942","https://openalex.org/W2611243847","https://openalex.org/W6677316683","https://openalex.org/W6682962366"],"related_works":["https://openalex.org/W1517908938","https://openalex.org/W3195318120","https://openalex.org/W1660309994","https://openalex.org/W2118356379","https://openalex.org/W4248554653","https://openalex.org/W4308773192","https://openalex.org/W4389261498","https://openalex.org/W3034726893","https://openalex.org/W2021315563","https://openalex.org/W1997063273"],"abstract_inverted_index":{"The":[0],"Rapidly":[1,12],"Exploring":[2,13],"Random":[3,14],"Tree":[4,15],"Star":[5],"(RRT\u2217)":[6],"is":[7,28],"an":[8,21],"extension":[9],"of":[10,44],"the":[11,66],"path":[16,25],"finding":[17],"algorithm.":[18],"RRT\u2217":[19,45,53,70],"guarantees":[20],"optimal,":[22],"collision":[23],"free":[24],"solution":[26],"but":[27],"limited":[29],"by":[30],"slow":[31],"convergence":[32,58],"rates":[33],"and":[34,69],"inefficient":[35],"memory":[36],"utilization.":[37],"This":[38],"paper":[39],"presents":[40],"APGD-RRT\u2217,":[41],"a":[42],"variant":[43],"which":[46],"utilizes":[47],"Artificial":[48],"Potential":[49],"Fields":[50],"to":[51],"improve":[52],"performance,":[54],"providing":[55],"relatively":[56],"better":[57],"rates.":[59],"Simulation":[60],"results":[61],"under":[62,76],"different":[63],"environments":[64],"between":[65],"proposed":[67],"APGD-RRT\u2217":[68],"algorithms":[71],"demonstrate":[72],"this":[73],"marked":[74],"improvement":[75],"various":[77],"test":[78],"environments.":[79]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
