{"id":"https://openalex.org/W2793070893","doi":"https://doi.org/10.1109/robio.2017.8324439","title":"Obstacle-guided informed planning towards robot navigation in cluttered environments","display_name":"Obstacle-guided informed planning towards robot navigation in cluttered environments","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2793070893","doi":"https://doi.org/10.1109/robio.2017.8324439","mag":"2793070893"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324439","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324439","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5073040585","display_name":"Zehui Meng","orcid":"https://orcid.org/0000-0002-7276-6844"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zehui Meng","raw_affiliation_strings":["NUS Graduate School of Integrated Science and Engineering, National University of Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NUS Graduate School of Integrated Science and Engineering, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101769301","display_name":"Hailong Qin","orcid":"https://orcid.org/0000-0002-0323-3083"},"institutions":[{"id":"https://openalex.org/I162266279","display_name":"Temasek Life Sciences Laboratory","ror":"https://ror.org/0574eex11","country_code":"SG","type":"facility","lineage":["https://openalex.org/I162266279"]},{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hailong Qin","raw_affiliation_strings":["Temasek Laboratory and Department of Electrical and Computer Engineering, National University of Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Temasek Laboratory and Department of Electrical and Computer Engineering, National University of Singapore","institution_ids":["https://openalex.org/I162266279","https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058002649","display_name":"Hao Sun","orcid":"https://orcid.org/0000-0001-8094-1991"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hao Sun","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074904348","display_name":"Xiaotong Shen","orcid":"https://orcid.org/0000-0003-1300-1451"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xiaotong Shen","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Marcelo H. Ang","raw_affiliation_strings":["NUS Graduate School of Integrated Science and Engineering, National University of Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NUS Graduate School of Integrated Science and Engineering, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"332","last_page":"337"},"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":0.9958999752998352,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9855999946594238,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.717052698135376},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6650322675704956},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6479653120040894},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5935758948326111},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5308583378791809},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4641156792640686},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4617953300476074},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4296097755432129},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38436275720596313},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08250674605369568}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.717052698135376},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6650322675704956},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6479653120040894},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5935758948326111},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5308583378791809},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4641156792640686},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4617953300476074},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4296097755432129},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38436275720596313},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08250674605369568},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2017.8324439","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324439","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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":0.6700000166893005,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W89668600","https://openalex.org/W630423399","https://openalex.org/W1495392417","https://openalex.org/W1814533834","https://openalex.org/W1864112212","https://openalex.org/W1967533244","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W1987188608","https://openalex.org/W2076162824","https://openalex.org/W2088521668","https://openalex.org/W2106473816","https://openalex.org/W2107535513","https://openalex.org/W2109212155","https://openalex.org/W2118356379","https://openalex.org/W2406290095","https://openalex.org/W3102121895","https://openalex.org/W3103346840","https://openalex.org/W3115270213","https://openalex.org/W6629573421","https://openalex.org/W6676372273","https://openalex.org/W6714034797"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W4380590094"],"abstract_inverted_index":{"Informed":[0,28,35],"sampling,":[1,93,165],"a":[2,80],"sampling":[3,10,75,82,88,157],"method":[4],"that":[5,15,118,133],"focuses":[6],"the":[7,11,18,42,46,55,90,98,126,134,137,151,159,168,173,179,188],"search":[8,177],"by":[9],"subset":[12],"of":[13,48,57,136,154,162,172,187],"states":[14],"potentially":[16],"improve":[17],"current":[19],"solution,":[20],"has":[21],"been":[22],"adopted":[23],"in":[24,60,89,101,203],"path-planning":[25],"algorithms":[26],"like":[27],"RRT*":[29],"[1]":[30],"and":[31,44,76,123,158,197,205],"its":[32],"successor,":[33],"Batch":[34],"Trees":[36],"(BIT*)":[37],"[2],":[38],"for":[39,128,178],"speeding":[40],"up":[41],"convergence":[43,135],"improving":[45],"quality":[47],"solution.":[49,182],"In":[50],"this":[51],"paper,":[52],"we":[53,84],"consider":[54],"problem":[56],"path":[58,194],"planning":[59,195,201],"cluttered":[61,207],"environments":[62,208],"containing":[63],"narrow":[64,121,210],"passages.":[65,211],"We":[66,183],"build":[67],"as":[68],"an":[69],"extension":[70],"to":[71,97,115,120,124,176,191],"BIT*":[72,189],"our":[73],"obstacle-guided":[74],"biasing":[77],"strategy.":[78],"With":[79],"neighbourhood":[81],"step,":[83],"embed":[85],"obstacle-based":[86,163],"Gaussian":[87,164],"underlying":[91],"uniform":[92,155],"which":[94],"gives":[95],"rise":[96],"sample":[99,130,170],"density":[100],"difficult-to-sample":[102],"homotopy":[103],"classes.":[104],"The":[105],"local":[106],"obstacle":[107,146],"information":[108],"is":[109],"implicitly":[110],"extracted":[111],"with":[112,209],"simple":[113],"heuristics":[114],"recognize":[116],"\u201cnavigators\u201d":[117],"belong":[119],"passages,":[122],"inform":[125],"planner":[127],"subsequent":[129],"biasing,":[131],"so":[132],"solution":[138],"towards":[139],"optimum":[140],"can":[141],"be":[142],"locally":[143],"accelerated":[144],"leveraging":[145],"information.":[147],"Our":[148],"strategy":[149],"combines":[150],"exploratory":[152],"advantage":[153],"informed":[156],"exploitative":[160],"feature":[161],"while":[166],"retaining":[167],"asymptotic":[169],"coverage":[171],"free":[174],"space":[175],"global":[180],"optimal":[181],"apply":[184],"such":[185],"customization":[186],"algorithm":[190],"robot":[192],"navigation":[193],"instances":[196],"demonstrate":[198],"hte":[199],"improved":[200],"efficiency":[202],"2D":[204],"3D":[206]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}