{"id":"https://openalex.org/W2111043354","doi":"https://doi.org/10.1109/robot.2006.1641878","title":"RRT-blossom: RRT with a local flood-fill behavior","display_name":"RRT-blossom: RRT with a local flood-fill behavior","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2111043354","doi":"https://doi.org/10.1109/robot.2006.1641878","mag":"2111043354"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641878","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5045635076","display_name":"Maciej Kalisiak","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"M. Kalisiak","raw_affiliation_strings":["Department of Computer Science, University of Toronto, Canada","Dept. of Comput. Sci., Toronto Univ., Ont"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Dept. of Comput. Sci., Toronto Univ., Ont","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052748246","display_name":"Michiel van de Panne","orcid":"https://orcid.org/0000-0002-9123-3672"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. van de Panne","raw_affiliation_strings":["Department of Computer Science, University of British Columbia, Canada","Department of computer Science, University of British Columbia, Canada#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of British Columbia, Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Department of computer Science, University of British Columbia, Canada#TAB#","institution_ids":["https://openalex.org/I141945490"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5045635076"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":4.9831,"has_fulltext":false,"cited_by_count":86,"citation_normalized_percentile":{"value":0.95850273,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1237","last_page":"1242"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9941999912261963,"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"}},{"id":"https://openalex.org/T11574","display_name":"Artificial Intelligence in Games","score":0.9932000041007996,"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/planner","display_name":"Planner","score":0.8651381134986877},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.8105376362800598},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6481567025184631},{"id":"https://openalex.org/keywords/flood-myth","display_name":"Flood myth","score":0.6395201683044434},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5989432334899902},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.5549394488334656},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.504379153251648},{"id":"https://openalex.org/keywords/variation","display_name":"Variation (astronomy)","score":0.48113954067230225},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.40268224477767944},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24864301085472107},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.16216537356376648},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1492810845375061},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13099300861358643}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8651381134986877},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.8105376362800598},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6481567025184631},{"id":"https://openalex.org/C74256435","wikidata":"https://www.wikidata.org/wiki/Q134052","display_name":"Flood myth","level":2,"score":0.6395201683044434},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5989432334899902},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.5549394488334656},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.504379153251648},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.48113954067230225},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.40268224477767944},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24864301085472107},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.16216537356376648},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1492810845375061},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13099300861358643},{"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/C44870925","wikidata":"https://www.wikidata.org/wiki/Q37547","display_name":"Astrophysics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"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/robot.2006.1641878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641878","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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":23,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W110311002","https://openalex.org/W131069610","https://openalex.org/W1620410031","https://openalex.org/W1763528081","https://openalex.org/W1978301848","https://openalex.org/W2000359213","https://openalex.org/W2018740177","https://openalex.org/W2046356179","https://openalex.org/W2075335084","https://openalex.org/W2115904688","https://openalex.org/W2117945499","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2143826757","https://openalex.org/W2157543942","https://openalex.org/W2163829685","https://openalex.org/W2167320044","https://openalex.org/W2171205311","https://openalex.org/W3104753760","https://openalex.org/W6604465034","https://openalex.org/W6605295560","https://openalex.org/W6636690859"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W2354676191","https://openalex.org/W3188646203","https://openalex.org/W2909957174","https://openalex.org/W136674370","https://openalex.org/W4246278799","https://openalex.org/W2105527480","https://openalex.org/W1568779110","https://openalex.org/W2052387497","https://openalex.org/W4288033310"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,30,49],"new":[4],"variation":[5],"of":[6,51],"the":[7,23],"RRT":[8],"planner":[9,24],"which":[10],"demonstrates":[11],"good":[12],"performance":[13],"on":[14],"both":[15],"loosely-constrained":[16],"and":[17,53,55],"highly-constrained":[18],"environments.":[19],"The":[20],"key":[21],"to":[22,36],"is":[25,33],"an":[26],"implicit":[27],"flood-fill-like":[28],"mechanism,":[29],"technique":[31],"that":[32],"well":[34],"suited":[35],"escaping":[37],"local":[38],"minima":[39],"in":[40],"highly":[41],"constrained":[42],"problems.":[43],"We":[44],"show":[45],"sample":[46],"results":[47],"for":[48],"variety":[50],"problems":[52],"environments,":[54],"discuss":[56],"future":[57],"improvements":[58]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
