{"id":"https://openalex.org/W3207200955","doi":"https://doi.org/10.1109/robio54168.2021.9739261","title":"Learning-based Fast Path Planning in Complex Environments","display_name":"Learning-based Fast Path Planning in Complex Environments","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W3207200955","doi":"https://doi.org/10.1109/robio54168.2021.9739261","mag":"3207200955"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739261","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5101708558","display_name":"Jianbang Liu","orcid":"https://orcid.org/0000-0003-1469-0623"},"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":"Jianbang Liu","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong","Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087869694","display_name":"Baopu Li","orcid":"https://orcid.org/0000-0002-9032-3991"},"institutions":[{"id":"https://openalex.org/I4210097423","display_name":"Behavioral Assessment Incorporation (United States)","ror":"https://ror.org/00st10308","country_code":"US","type":"company","lineage":["https://openalex.org/I4210097423"]},{"id":"https://openalex.org/I98301712","display_name":"Baidu (China)","ror":"https://ror.org/03vs3wt56","country_code":"CN","type":"company","lineage":["https://openalex.org/I98301712"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Baopu Li","raw_affiliation_strings":["Baidu Research (US),CA,USA","Baidu Research (US), CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Baidu Research (US),CA,USA","institution_ids":["https://openalex.org/I98301712"]},{"raw_affiliation_string":"Baidu Research (US), CA, USA","institution_ids":["https://openalex.org/I4210097423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083545249","display_name":"Tingguang Li","orcid":"https://orcid.org/0000-0003-1161-9987"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tingguang Li","raw_affiliation_strings":["Tencent Robotics X,Shenzhen,China","Tencent Robotics X, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]},{"raw_affiliation_string":"Tencent Robotics X, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014759749","display_name":"Wenzheng Chi","orcid":"https://orcid.org/0000-0002-8121-2624"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenzheng Chi","raw_affiliation_strings":["Soochow University,School of Mechanical and Electric Engineering,Suzhou,China","School of Mechanical and Electric Engineering, Soochow University, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Soochow University,School of Mechanical and Electric Engineering,Suzhou,China","institution_ids":["https://openalex.org/I3923682"]},{"raw_affiliation_string":"School of Mechanical and Electric Engineering, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiankun Wang","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, 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/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"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","Shenzhen Research Institute, Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electronic and Electrical Engineering,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"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Shenzhen Research Institute, Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1351","last_page":"1358"},"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":0.9987999796867371,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9984999895095825,"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":0.8355687260627747},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7622004747390747},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6741275787353516},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5819804668426514},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5622414946556091},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.554092526435852},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4708532691001892},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4646930396556854},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.42950695753097534},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.42901116609573364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37344974279403687},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35821250081062317},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3560851216316223},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3459198474884033}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8355687260627747},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7622004747390747},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6741275787353516},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5819804668426514},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5622414946556091},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.554092526435852},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4708532691001892},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4646930396556854},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.42950695753097534},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.42901116609573364},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37344974279403687},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35821250081062317},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3560851216316223},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3459198474884033},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739261","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5899999737739563,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1969483458","https://openalex.org/W1976930960","https://openalex.org/W2000359213","https://openalex.org/W2103120971","https://openalex.org/W2125035363","https://openalex.org/W2128990851","https://openalex.org/W2560023338","https://openalex.org/W2630837129","https://openalex.org/W2877466430","https://openalex.org/W2916002270","https://openalex.org/W2924464923","https://openalex.org/W2952009315","https://openalex.org/W2962758608","https://openalex.org/W2963351448","https://openalex.org/W2963439114","https://openalex.org/W2967969632","https://openalex.org/W2971157333","https://openalex.org/W2981021021","https://openalex.org/W2996899864","https://openalex.org/W3005221507","https://openalex.org/W3011646207","https://openalex.org/W3034559532","https://openalex.org/W3040621713","https://openalex.org/W3090292349","https://openalex.org/W3111532984","https://openalex.org/W3112847334"],"related_works":["https://openalex.org/W4400246438","https://openalex.org/W2576812951","https://openalex.org/W2368795992","https://openalex.org/W2908094156","https://openalex.org/W2990979393","https://openalex.org/W2966249567","https://openalex.org/W4308080200","https://openalex.org/W2914610299","https://openalex.org/W4210716962","https://openalex.org/W2434603229"],"abstract_inverted_index":{"In":[0,79],"this":[1,43,80],"paper,":[2],"we":[3,110,127,156],"present":[4],"a":[5,28,47,52,69,113,123,130,165],"novel":[6],"path":[7,13,20,30,54,75,125,132,161,190],"planning":[8,14,21,55,162,185],"algorithm":[9,176],"to":[10,25,67,89,146],"achieve":[11,178],"fast":[12],"in":[15,31,91,164,182],"complex":[16,32],"environments.":[17],"Most":[18],"existing":[19],"algorithms":[22,163],"are":[23],"difficult":[24],"quickly":[26],"find":[27],"feasible":[29,74,131],"environments":[33],"or":[34],"even":[35],"fail.":[36],"However,":[37],"our":[38,92],"proposed":[39,154,175],"framework":[40],"can":[41,111,128,141,177],"overcome":[42],"difficulty":[44],"by":[45],"using":[46],"learning-based":[48],"prediction":[49,58],"module":[50,59],"and":[51,96,189],"sampling-based":[53,124],"module.":[56],"The":[57,170],"utilizes":[60],"an":[61],"auto-encoder-decoder-like":[62],"convolutional":[63],"neural":[64],"network":[65],"(CNN)":[66],"output":[68,98,135],"promising":[70],"region":[71],"where":[72],"the":[73,82,97,134,139,150,153,174],"probably":[76],"lies":[77],"in.":[78],"process,":[81],"environment":[83],"is":[84,99,106],"treated":[85],"as":[86],"RGB":[87,101],"image":[88,136],"feed":[90],"designed":[93],"CNN":[94],"module,":[95],"also":[100],"image.":[102],"No":[103],"extra":[104],"computation":[105],"required":[107],"so":[108,137],"that":[109,138,173],"maintain":[112],"high":[114],"processing":[115],"speed":[116],"of":[117,152,167,184],"60":[118],"frame-per-second":[119],"(FPS).":[120],"Incorporated":[121],"with":[122,159],"planner,":[126],"extract":[129],"from":[133,144],"robot":[140],"track":[142],"it":[143,158],"start":[145],"goal.":[147],"To":[148],"demonstrate":[149],"advantage":[151],"algorithm,":[155],"compare":[157],"conventional":[160],"series":[166],"simulation":[168],"experiments.":[169],"results":[171],"reveal":[172],"much":[179],"better":[180],"performance":[181],"terms":[183],"time,":[186],"success":[187],"rate,":[188],"length.":[191]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}