{"id":"https://openalex.org/W4385521945","doi":"https://doi.org/10.1109/tase.2023.3297176","title":"Learning-Based Risk-Bounded Path Planning Under Environmental Uncertainty","display_name":"Learning-Based Risk-Bounded Path Planning Under Environmental Uncertainty","publication_year":2023,"publication_date":"2023-08-03","ids":{"openalex":"https://openalex.org/W4385521945","doi":"https://doi.org/10.1109/tase.2023.3297176"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3297176","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3297176","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/A5004137944","display_name":"Fei Meng","orcid":"https://orcid.org/0000-0001-9225-040X"},"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":"Fei Meng","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong","Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100729607","display_name":"Liangliang Chen","orcid":"https://orcid.org/0000-0002-9594-640X"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liangliang Chen","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007413381","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":false,"raw_author_name":"Han Ma","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong","Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, Hong Kong","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"]},{"id":"https://openalex.org/I4210092870","display_name":"Jiaxing University","ror":"https://ror.org/00j2a7k55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092870"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiankun Wang","raw_affiliation_strings":["Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China","Jiaxing Research Institute, Southern University of Science and Technology, Jiaxing, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Jiaxing Research Institute, Southern University of Science and Technology, Jiaxing, China","institution_ids":["https://openalex.org/I4210092870","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/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]},{"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"]}],"countries":["CA","CN","HK"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong","Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Canada","Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China","Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Canada","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, 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, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5004137944"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":1.8054,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.87379695,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"21","issue":"3","first_page":"4460","last_page":"4470"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9819999933242798,"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":0.9746000170707703,"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/computer-science","display_name":"Computer science","score":0.5878758430480957},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5197117328643799},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5034820437431335},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.47349223494529724},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4703051447868347},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.45968908071517944},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.45190635323524475},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4369758367538452},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4333272874355316},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38462162017822266},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2124173939228058}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5878758430480957},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5197117328643799},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5034820437431335},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.47349223494529724},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4703051447868347},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.45968908071517944},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.45190635323524475},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4369758367538452},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4333272874355316},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38462162017822266},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2124173939228058},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"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/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.2023.3297176","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3297176","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":[{"score":0.6100000143051147,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"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"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1424654272","https://openalex.org/W1522301498","https://openalex.org/W1971086298","https://openalex.org/W1993282304","https://openalex.org/W2004139909","https://openalex.org/W2095705004","https://openalex.org/W2101496914","https://openalex.org/W2128990851","https://openalex.org/W2164429173","https://openalex.org/W2168992242","https://openalex.org/W2199230884","https://openalex.org/W2229105208","https://openalex.org/W2557055507","https://openalex.org/W2807095006","https://openalex.org/W2885010347","https://openalex.org/W2888152797","https://openalex.org/W2895355463","https://openalex.org/W2909882608","https://openalex.org/W2910239470","https://openalex.org/W2922973350","https://openalex.org/W2962917939","https://openalex.org/W2963130659","https://openalex.org/W2966257892","https://openalex.org/W3001538587","https://openalex.org/W3011646207","https://openalex.org/W3041214784","https://openalex.org/W3047385205","https://openalex.org/W3091453879","https://openalex.org/W3092984378","https://openalex.org/W3098201584","https://openalex.org/W3102509322","https://openalex.org/W3129335422","https://openalex.org/W3165149185","https://openalex.org/W3174748154","https://openalex.org/W3177428007","https://openalex.org/W3208245500","https://openalex.org/W3214464180","https://openalex.org/W4221156184","https://openalex.org/W4225156835","https://openalex.org/W4225657831","https://openalex.org/W4280590673","https://openalex.org/W4289931138","https://openalex.org/W4293193500","https://openalex.org/W6605295560","https://openalex.org/W6631190155","https://openalex.org/W6674330103","https://openalex.org/W6763422710","https://openalex.org/W6785482317"],"related_works":["https://openalex.org/W3013085049","https://openalex.org/W1560496689","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W2093343611","https://openalex.org/W1519058190","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3154539612"],"abstract_inverted_index":{"Building":[0],"a":[1,49,84,96,114,227,257,275,294],"general":[2],"and":[3,19,28,99,142,167,180,190,201,240,303],"efficient":[4],"path":[5,53,231,249],"planning":[6,250],"framework":[7,251],"in":[8,66,80,108,169,177,195,206,221,274],"uncertain":[9,222,262,291],"nonconvex":[10,74,263],"environments":[11],"is":[12,43,100,152],"challenging":[13,182],"due":[14],"to":[15,55,118,137,187,242,270,287],"the":[16,37,67,73,81,109,120,131,140,149,174,178,207,268,280,289,298],"safety":[17],"constraints":[18],"complex":[20,68,223],"configuration.":[21],"Traditional":[22],"avenues":[23],"usually":[24,211],"involve":[25],"convexifying":[26],"obstacles":[27,75],"presume":[29],"Gaussian":[30],"distribution,":[31],"which":[32],"are":[33,193],"not":[34,44],"universal.":[35],"Meanwhile,":[36],"fast":[38],"convergence":[39],"of":[40,83,148,237],"high-quality":[41],"solutions":[42,59,172],"guaranteed.":[45],"Therefore,":[46],"we":[47,71,128,225,285],"develop":[48],"novel":[50],"neural":[51,90,115,135,228],"risk-bounded":[52,229,248],"planner":[54],"quickly":[56,215],"find":[57,254],"near-optimal":[58],"that":[60,161,277],"have":[61],"an":[62],"acceptable":[63],"collision":[64,146],"probability":[65,306],"environments.":[69,183],"Firstly,":[70],"retrieve":[72],"with":[76,102,256],"arbitrary":[77],"probabilistic":[78],"uncertainties":[79],"form":[82],"deterministic":[85],"point":[86],"cloud":[87],"map.":[88],"A":[89],"network":[91],"sampler":[92],"encodes":[93],"it":[94],"into":[95,297],"latent":[97],"embedding":[98],"trained":[101],"sufficient":[103],"expert":[104,269],"demonstrations,":[105],"predicting":[106],"states":[107,273],"potential":[110],"subspace.":[111],"We":[112],"construct":[113],"cost":[116],"estimator":[117],"select":[119],"best":[121],"informed":[122,272],"state":[123],"from":[124],"those":[125],"samples.":[126],"Then,":[127],"recursively":[129],"use":[130],"simple":[132],"yet":[133],"effective":[134],"networks":[136],"march":[138],"toward":[139],"start":[141],"goal":[143],"bidirectionally.":[144],"The":[145],"risk":[147,259],"intermediate":[150],"connections":[151],"verified":[153],"based":[154],"on":[155],"sum-of-squares":[156],"optimization.":[157],"Simulation":[158],"results":[159],"show":[160],"our":[162],"approach":[163],"significantly":[164],"saves":[165],"time":[166,239],"resources":[168,241],"finding":[170],"comparable":[171],"over":[173],"state-of-the-art":[175],"methods":[176,234],"seen":[179],"unseen":[181],"<italic":[184],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[185],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[186],"Practitioners</i>":[188],"\u2014More":[189],"more":[191],"robots":[192],"deployed":[194],"unstructured":[196],"environments,":[197,224],"such":[198],"as":[199],"forests":[200],"subterranean":[202],"caves.":[203],"However,":[204],"uncertainty":[205],"environment":[208],"situational":[209],"awareness":[210],"causes":[212],"accidents.":[213],"To":[214],"generate":[216,243,271],"safe":[217],"paths":[218,255],"without":[219],"over-conservation":[220],"propose":[226],"sampling-based":[230],"planner.":[232],"Conventional":[233],"consume":[235],"lots":[236],"computation":[238],"satisfactory":[244],"results.":[245],"Our":[246],"learning-based":[247],"can":[252],"efficiently":[253],"guaranteed":[258],"tolerance":[260],"avoiding":[261],"static":[264],"obstacles.":[265],"It":[266],"imitates":[267],"subspace":[276],"potentially":[278],"contains":[279],"optimal":[281],"solution.":[282],"In":[283],"practice,":[284],"need":[286],"formulate":[288],"observed":[290],"obstacle":[292],"at":[293],"grid":[295],"map":[296],"polynomial":[299],"containing":[300],"random":[301],"variables":[302],"determine":[304],"their":[305],"distributions.":[307]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
