{"id":"https://openalex.org/W4410852222","doi":"https://doi.org/10.1109/tase.2025.3574262","title":"Robust Real-Time Sampling-Based Motion Planner for Autonomous Vehicles in Narrow Environments","display_name":"Robust Real-Time Sampling-Based Motion Planner for Autonomous Vehicles in Narrow Environments","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4410852222","doi":"https://doi.org/10.1109/tase.2025.3574262"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3574262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3574262","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/A5100362682","display_name":"Minsoo Kim","orcid":"https://orcid.org/0000-0003-2300-1279"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Minsoo Kim","raw_affiliation_strings":["Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I118373667"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056836140","display_name":"Arthur Esquerre-Pourt\u00e8re","orcid":"https://orcid.org/0000-0003-1102-4422"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Arthur Esquerre-Pourt\u00e8re","raw_affiliation_strings":["Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Intelligence and Information, Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I118373667"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031070386","display_name":"Jaeheung Park","orcid":"https://orcid.org/0000-0002-5062-8264"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]},{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeheung Park","raw_affiliation_strings":["Department of Intelligence and Information, Graduate School of Convergence Science and Technology, and ASRI, AIIS, Seoul National University, Seoul, Republic of Korea","ASRI, AIIS, Seoul National University, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Intelligence and Information, Graduate School of Convergence Science and Technology, and ASRI, AIIS, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I118373667"]},{"raw_affiliation_string":"ASRI, AIIS, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100362682"],"corresponding_institution_ids":["https://openalex.org/I118373667"],"apc_list":null,"apc_paid":null,"fwci":1.2666,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.80079884,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"16250","last_page":"16265"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9962000250816345,"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":0.9962000250816345,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9886999726295471,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9588000178337097,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5647312998771667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5360041260719299},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5038768649101257},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44990286231040955},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4389791786670685},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4349304735660553},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4278659224510193},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38926786184310913},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34612852334976196},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3392963707447052},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32957082986831665},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3241482973098755},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2385316789150238}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5647312998771667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5360041260719299},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5038768649101257},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44990286231040955},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4389791786670685},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4349304735660553},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4278659224510193},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38926786184310913},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34612852334976196},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3392963707447052},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32957082986831665},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3241482973098755},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2385316789150238},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3574262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3574262","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":[{"display_name":"Sustainable cities and communities","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W1973126591","https://openalex.org/W1977972789","https://openalex.org/W1991752086","https://openalex.org/W1996183429","https://openalex.org/W2000359213","https://openalex.org/W2013724094","https://openalex.org/W2110762409","https://openalex.org/W2112271657","https://openalex.org/W2133066324","https://openalex.org/W2165216595","https://openalex.org/W2294424735","https://openalex.org/W2527235235","https://openalex.org/W2562830346","https://openalex.org/W2565125300","https://openalex.org/W2573542018","https://openalex.org/W2791468499","https://openalex.org/W2897437252","https://openalex.org/W2902241648","https://openalex.org/W2904303363","https://openalex.org/W2963130659","https://openalex.org/W2963439114","https://openalex.org/W2964003311","https://openalex.org/W2964170993","https://openalex.org/W2966170454","https://openalex.org/W2972590003","https://openalex.org/W3006552748","https://openalex.org/W3011646207","https://openalex.org/W3090404636","https://openalex.org/W3094789747","https://openalex.org/W3113447964","https://openalex.org/W3131580247","https://openalex.org/W3165942895","https://openalex.org/W3198919602","https://openalex.org/W3202846827","https://openalex.org/W4200134104","https://openalex.org/W4206151134","https://openalex.org/W4226335358","https://openalex.org/W4283784039","https://openalex.org/W4311670569","https://openalex.org/W4312826859","https://openalex.org/W4312999739","https://openalex.org/W4313129933","https://openalex.org/W4383112515","https://openalex.org/W4383172039","https://openalex.org/W4385312479","https://openalex.org/W4386702724","https://openalex.org/W4389665769","https://openalex.org/W4392174005","https://openalex.org/W4400646336","https://openalex.org/W4408352647","https://openalex.org/W6745935785","https://openalex.org/W6748163547","https://openalex.org/W6762654652"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2150982344","https://openalex.org/W4292862729","https://openalex.org/W2170661558"],"abstract_inverted_index":{"Real-time":[0],"sampling-based":[1,189],"planners":[2,15],"increasingly":[3],"use":[4],"learned":[5,96,109],"sampling":[6],"distributions":[7],"for":[8],"faster":[9],"planning":[10,62,115],"in":[11,45,151,155,181],"autonomous":[12],"vehicles.":[13],"These":[14],"employ":[16],"a":[17,105,119,139],"neural":[18],"network":[19,38],"to":[20,41,90,187],"predict":[21],"the":[22,30,37,83,92,95,99,125,129,160,173,178],"optimal":[23,145],"path":[24,146,179],"and":[25,176,183],"bias":[26],"some":[27],"samples":[28,49,59,110],"toward":[29],"path.":[31],"However,":[32],"inherent":[33],"prediction":[34,122],"inaccuracies":[35],"of":[36,94,108,121,143,162],"often":[39],"lead":[40],"suboptimal":[42],"paths,":[43],"especially":[44],"narrow":[46,152],"spaces.":[47],"Learned":[48],"should":[50],"be":[51],"used":[52],"carefully":[53],"based":[54],"on":[55],"accuracy,":[56],"as":[57],"inaccurate":[58],"can":[60],"degrade":[61],"performance.":[63],"To":[64],"address":[65],"this":[66,68],"problem,":[67],"paper":[69],"proposes":[70],"<italic":[71],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[72],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Learned":[73],"Adaptive":[74],"Anytime":[75],"TargetTree-RRT*":[76],"(LA3T*)</i>":[77],"algorithm.":[78,132],"The":[79,87,133,168],"proposed":[80,169],"planner":[81],"introduces":[82],"adaptive":[84],"biasing":[85],"ratio.":[86],"approach":[88],"learns":[89],"assess":[91],"reliability":[93],"distribution":[97],"using":[98],"network\u2019s":[100],"confidence.":[101],"This":[102],"confidence":[103],"approximates":[104],"proper":[106],"ratio":[107],"used,":[111],"thereby":[112],"adaptively":[113],"maximizing":[114],"performance":[116],"while":[117],"considering":[118],"level":[120],"accuracy.":[123],"Furthermore,":[124],"LA3T*":[126],"algorithm":[127,170],"incorporates":[128],"target":[130],"tree":[131],"goal":[134],"pose":[135],"is":[136],"replaced":[137],"with":[138],"set":[140],"(target":[141],"tree)":[142],"pre-defined":[144],"segments,":[147],"reducing":[148],"computational":[149],"efforts":[150],"regions.":[153],"Experiments":[154],"various":[156],"driving":[157],"tasks":[158],"explore":[159],"benefits":[161],"each":[163],"component":[164],"through":[165],"ablation":[166],"studies.":[167],"significantly":[171],"increases":[172],"success":[174],"rate":[175],"reduces":[177],"length":[180],"simulated":[182],"real-world":[184],"scenarios":[185],"compared":[186],"other":[188],"methods.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-04-01T17:29:45.350535","created_date":"2025-10-10T00:00:00"}
