{"id":"https://openalex.org/W4226226394","doi":"https://doi.org/10.1109/tase.2022.3191519","title":"Enhance Connectivity of Promising Regions for Sampling-Based Path Planning","display_name":"Enhance Connectivity of Promising Regions for Sampling-Based Path Planning","publication_year":2022,"publication_date":"2022-07-20","ids":{"openalex":"https://openalex.org/W4226226394","doi":"https://doi.org/10.1109/tase.2022.3191519"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2022.3191519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3191519","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":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2112.08106","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Han Ma","orcid":"https://orcid.org/0000-0003-1960-5432"},"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":true,"raw_author_name":"Han Ma","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chenming Li","orcid":"https://orcid.org/0000-0001-6322-0834"},"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":"Chenming Li","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":null,"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":["Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"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":["Shenzhen Key Laboratory of Robotics Perception and Intelligence and the Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence and the 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/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":"Max Q. -H. Meng","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence and the Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence and the Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03140529,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"20","issue":"3","first_page":"1997","last_page":"2010"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.891700029373169,"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":0.891700029373169,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.01119999960064888,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.00989999994635582,"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/sampling","display_name":"Sampling (signal processing)","score":0.7222729921340942},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7144936323165894},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6281430125236511},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6268041133880615},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5952218770980835},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.44087427854537964},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.36714398860931396},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33903026580810547},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3237902820110321},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.08441582322120667},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.06247410178184509}],"concepts":[{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.7222729921340942},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7144936323165894},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6281430125236511},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6268041133880615},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5952218770980835},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.44087427854537964},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.36714398860931396},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33903026580810547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3237902820110321},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.08441582322120667},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.06247410178184509},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tase.2022.3191519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3191519","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"},{"id":"pmh:oai:arXiv.org:2112.08106","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2112.08106","pdf_url":"https://arxiv.org/pdf/2112.08106","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2112.08106","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2112.08106","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2112.08106","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2112.08106","pdf_url":"https://arxiv.org/pdf/2112.08106","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5391222319","display_name":null,"funder_award_id":"62103181","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5736026126","display_name":null,"funder_award_id":"2019YFB1312400","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1777783943","https://openalex.org/W1814533834","https://openalex.org/W1864112212","https://openalex.org/W1969483458","https://openalex.org/W1976930960","https://openalex.org/W1982809790","https://openalex.org/W1993282304","https://openalex.org/W2000359213","https://openalex.org/W2028838947","https://openalex.org/W2104332709","https://openalex.org/W2108443974","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2169528473","https://openalex.org/W2621212586","https://openalex.org/W2774451424","https://openalex.org/W2799018616","https://openalex.org/W2803790834","https://openalex.org/W2894417726","https://openalex.org/W2962758608","https://openalex.org/W2963439114","https://openalex.org/W3004207898","https://openalex.org/W3006249771","https://openalex.org/W3011646207","https://openalex.org/W3047385205","https://openalex.org/W3091091967","https://openalex.org/W3134878008","https://openalex.org/W3208956781","https://openalex.org/W6637757992","https://openalex.org/W6720208624","https://openalex.org/W6779084649","https://openalex.org/W6779435561","https://openalex.org/W6794536397","https://openalex.org/W6803736998"],"related_works":["https://openalex.org/W193554","https://openalex.org/W758187","https://openalex.org/W12435665","https://openalex.org/W1344525","https://openalex.org/W17314131","https://openalex.org/W4825248","https://openalex.org/W5160421","https://openalex.org/W354644","https://openalex.org/W1362903","https://openalex.org/W6122602"],"abstract_inverted_index":{"Sampling-based":[0],"path":[1,160,191,195],"planning":[2,161,196],"algorithms":[3,162,252,268,302],"usually":[4],"implement":[5],"uniform":[6,15],"sampling":[7,16,46,216,230],"methods":[8,197],"to":[9,19,38,43,48,116,121,125,178,205,241,277],"search":[10],"the":[11,27,40,45,50,53,65,82,92,96,99,108,111,118,126,129,140,144,154,185,211,218,229,233,236,248,251,262,265,279,282,286,301],"state":[12],"space.":[13],"However,":[14,52,232],"may":[17],"lead":[18],"unnecessary":[20],"exploration":[21],"in":[22,71,98,114,171,202,217,253,273,300],"many":[23],"scenarios,":[24],"such":[25],"as":[26],"environment":[28],"with":[29],"a":[30,72,134,223],"few":[31],"dead":[32],"ends.":[33],"Our":[34,88],"previous":[35],"work":[36,78,181],"proposes":[37],"use":[39],"promising":[41,55,86,112,130,147,186,219,237,284],"region":[42,187,220,238],"guide":[44,117],"process":[47],"address":[49],"issue.":[51],"predicted":[54,85,221,283],"regions":[56,148],"are":[57,293],"often":[58],"disconnected,":[59],"which":[60],"means":[61],"they":[62],"cannot":[63],"connect":[64],"start":[66],"and":[67,101,139,163,244,290],"goal":[68],"states,":[69],"resulting":[70],"lack":[73],"of":[74,84,95,110,128,136,146,156,213,235,250,264,281],"probabilistic":[75],"completeness.":[76],"This":[77],"focuses":[79],"on":[80,158],"enhancing":[81],"connectivity":[83,93,127,145,157,166,234,271,280],"regions.":[87,131],"proposed":[89],"method":[90],"regresses":[91],"probability":[94],"edges":[97,113],"x":[100],"y":[102],"directions.":[103],"In":[104],"addition,":[105],"it":[106,245],"calculates":[107],"weight":[109],"loss":[115,291],"neural":[119,224,266],"network":[120,225],"pay":[122],"more":[123],"attention":[124],"We":[132],"conduct":[133],"series":[135],"simulation":[137,296],"experiments,":[138],"results":[141,297],"show":[142,298],"that":[143,165],"improves":[149],"significantly.":[150],"Furthermore,":[151,276],"we":[152,260],"analyze":[153],"effect":[155],"sampling-based":[159,190,194],"conclude":[164],"plays":[167],"an":[168],"essential":[169],"role":[170],"maintaining":[172],"algorithm":[173],"performance.":[174],"<italic":[175],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[176],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[177],"Practitioners</i>":[179],"\u2014This":[180],"is":[182,226],"derived":[183],"from":[184],"prediction":[188,288],"for":[189],"planning.":[192],"The":[193,295],"have":[198],"been":[199],"widely":[200],"used":[201],"robotics":[203],"due":[204],"their":[206],"efficiency.":[207],"To":[208,256],"further":[209],"improve":[210],"efficiency":[212],"these":[214],"algorithms,":[215],"by":[222],"introduced":[227],"into":[228],"procedure.":[231],"has":[239],"yet":[240],"be":[242],"considered,":[243],"will":[246],"affect":[247],"performance":[249,263],"several":[254],"aspects.":[255],"demonstrate":[257],"this":[258,274],"problem,":[259],"compare":[261],"heuristic":[267],"under":[269],"different":[270],"statuses":[272],"paper.":[275],"enhance":[278],"region,":[285],"novel":[287],"output":[289],"function":[292],"proposed.":[294],"improvements":[299],"after":[303],"utilizing":[304],"our":[305],"method.":[306]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2022-05-05T00:00:00"}
