{"id":"https://openalex.org/W3208245500","doi":"https://doi.org/10.1109/tase.2021.3121408","title":"Deep Neural Network Enhanced Sampling-Based Path Planning in 3D Space","display_name":"Deep Neural Network Enhanced Sampling-Based Path Planning in 3D Space","publication_year":2021,"publication_date":"2021-11-02","ids":{"openalex":"https://openalex.org/W3208245500","doi":"https://doi.org/10.1109/tase.2021.3121408","mag":"3208245500"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2021.3121408","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3121408","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/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":true,"raw_author_name":"Jiankun Wang","raw_affiliation_strings":["Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"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":"middle","author":{"id":"https://openalex.org/A5101517159","display_name":"Xiao Jia","orcid":"https://orcid.org/0000-0002-9426-0051"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiao Jia","raw_affiliation_strings":["Department of Radiation Oncology, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Radiation Oncology, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100437461","display_name":"Tianyi Zhang","orcid":"https://orcid.org/0000-0003-2223-5460"},"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":"Tianyi Zhang","raw_affiliation_strings":["Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"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":"middle","author":{"id":"https://openalex.org/A5055996451","display_name":"Nachuan Ma","orcid":"https://orcid.org/0000-0002-7107-6577"},"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":"Nachuan Ma","raw_affiliation_strings":["Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"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":["Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","Shenzhen Research Institute, The Chinese University of Hong Kong at Shenzhen, Shenzhen, China"],"affiliations":[{"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":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Shenzhen Research Institute, The Chinese University of Hong Kong at Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5043461784"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":2.1316,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.89441185,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"19","issue":"4","first_page":"3434","last_page":"3443"},"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":0.9990000128746033,"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":0.9959999918937683,"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":0.8722794055938721},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.7723289728164673},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6787810325622559},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6306027173995972},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5650179386138916},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5200880765914917},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.4715728163719177},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.4630378186702728},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.44720685482025146},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4205612540245056},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.41879045963287354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38565006852149963},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3298688530921936},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32857656478881836},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17411360144615173},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1738208532333374}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8722794055938721},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.7723289728164673},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6787810325622559},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6306027173995972},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5650179386138916},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5200880765914917},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.4715728163719177},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.4630378186702728},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.44720685482025146},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4205612540245056},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.41879045963287354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38565006852149963},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3298688530921936},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32857656478881836},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17411360144615173},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1738208532333374},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2021.3121408","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3121408","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5199999809265137,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320327605","display_name":"Southern University of Science and Technology","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1582029545","https://openalex.org/W1866797514","https://openalex.org/W1901129140","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W2000359213","https://openalex.org/W2099144379","https://openalex.org/W2103120971","https://openalex.org/W2128990851","https://openalex.org/W2130403814","https://openalex.org/W2147497140","https://openalex.org/W2161298439","https://openalex.org/W2169528473","https://openalex.org/W2211665117","https://openalex.org/W2411063765","https://openalex.org/W2788882124","https://openalex.org/W2877466430","https://openalex.org/W2962758608","https://openalex.org/W2963420272","https://openalex.org/W2963439114","https://openalex.org/W2964239169","https://openalex.org/W2994835187","https://openalex.org/W2996899864","https://openalex.org/W3011646207","https://openalex.org/W3022310485","https://openalex.org/W3090647410","https://openalex.org/W3102121895","https://openalex.org/W3130631955","https://openalex.org/W3137567349","https://openalex.org/W3185327196","https://openalex.org/W4243385754","https://openalex.org/W6631190155","https://openalex.org/W6637568146","https://openalex.org/W6678815747"],"related_works":["https://openalex.org/W4400246438","https://openalex.org/W2576812951","https://openalex.org/W2368795992","https://openalex.org/W2908094156","https://openalex.org/W3139139461","https://openalex.org/W2990979393","https://openalex.org/W2966249567","https://openalex.org/W4308080200","https://openalex.org/W4391479943","https://openalex.org/W1660309994"],"abstract_inverted_index":{"Robot":[0],"path":[1,22,34,59,88,107,113,133,139,156,185,199,221,228,284,298,327],"planning":[2,23,60,89,114,157,186,200,222,229,299,328],"in":[3,20,25,51,91,147,201,224,273],"3D":[4,26,72,92,202,225],"space":[5],"is":[6,35,45,97,293],"a":[7,56,84,111,122,240,253],"challenging":[8],"problem":[9],"for":[10,110,198,286],"its":[11],"complex":[12,258],"configuration.":[13],"Sampling-based":[14],"algorithms":[15,230],"have":[16],"gained":[17],"great":[18],"success":[19],"solving":[21],"problems":[24],"space,":[27],"but":[28],"the":[29,32,39,42,64,75,81,95,101,105,128,132,138,144,148,155,167,170,174,192,219,234,268,278,282,297,303,314],"quality":[30],"of":[31,86,131,169,194,242,326],"initial":[33],"not":[36,264],"guaranteed":[37],"and":[38,150,173,237,248,259],"convergence":[40],"to":[41,71,99,126,165,205,211,217,232,251,295,323],"optimal":[43],"solution":[44],"slow.":[46],"To":[47],"address":[48],"these":[49],"problems,":[50],"this":[52,136,207,274],"article,":[53],"we":[54,78,189,209],"present":[55],"novel":[57],"sampling-based":[58,312],"framework":[61],"enhanced":[62],"by":[63],"deep":[65],"neural":[66,270,316],"network":[67,271,317],"(DNN)":[68],"with":[69,83],"applications":[70],"space.":[73,93,203,226],"In":[74,135],"proposed":[76,171,269,315],"framework,":[77],"first":[79],"train":[80],"DNN":[82,96,196],"number":[85],"successful":[87],"cases":[90],"Then":[94],"utilized":[98],"predict":[100,277],"promising":[102,118,145,279],"region":[103,119,146,280],"where":[104,281],"feasible":[106,254,283],"probably":[108],"exists":[109,285],"given":[112,288],"problem.":[115],"This":[116,290],"predicted":[117],"serves":[120],"as":[121,245],"nonuniform":[123],"sampling":[124,129],"heuristic":[125],"bias":[127],"process":[130,152,223,300],"planner.":[134],"way,":[137],"planner":[140],"can":[141,179,276,306,319],"focus":[142],"on":[143],"exploration":[149],"exploitation":[151],"so":[153,301],"that":[154,177,302],"speed":[158],"gets":[159],"accelerated.":[160],"We":[161],"conduct":[162],"numerical":[163],"simulations":[164],"evaluate":[166],"performance":[168,193,305],"algorithm":[172,304],"results":[175],"show":[176],"it":[178],"perform":[180,265],"much":[181],"better":[182],"than":[183],"conventional":[184],"algorithms.":[187,329],"Furthermore,":[188],"also":[190,320],"investigate":[191],"different":[195],"architectures":[197],"Note":[204],"Practitioners\u2014In":[206],"work,":[208],"aim":[210],"provide":[212],"an":[213],"efficient":[214],"learning-based":[215],"method":[216,272],"accelerate":[218],"robot":[220],"Conventional":[227],"need":[231],"perceive":[233],"environment":[235],"first,":[236],"then":[238],"implement":[239],"series":[241],"calculations":[243],"such":[244],"collision":[246],"checking":[247],"data":[249],"storing":[250],"generate":[252],"path.":[255],"When":[256],"facing":[257],"high-dimensional":[260],"environments,":[261],"they":[262],"do":[263],"well.":[266],"But":[267],"article":[275],"any":[287],"environment.":[289],"prediction":[291],"result":[292],"used":[294],"guide":[296],"get":[307],"significantly":[308],"improved.":[309],"Apart":[310],"from":[311],"algorithms,":[313],"model":[318],"be":[321],"extended":[322],"other":[324],"types":[325]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}