{"id":"https://openalex.org/W4412619192","doi":"https://doi.org/10.1109/tase.2025.3590084","title":"Estimated Informed Anytime Search for Sampling-Based Planning via Adaptive Sampler","display_name":"Estimated Informed Anytime Search for Sampling-Based Planning via Adaptive Sampler","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4412619192","doi":"https://doi.org/10.1109/tase.2025.3590084"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3590084","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2025.3590084","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tase.2025.3590084","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111122200","display_name":"Liding Zhang","orcid":"https://orcid.org/0009-0007-0119-706X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Liding Zhang","raw_affiliation_strings":["Chair of Robotics, Artificial Intelligence and Real-time Systems, TUM School of Computation, Information and Technology (CIT), Technical University of Munich, Garching bei M&#x00FC;nchen, Germany"],"raw_orcid":"https://orcid.org/0009-0007-0119-706X","affiliations":[{"raw_affiliation_string":"Chair of Robotics, Artificial Intelligence and Real-time Systems, TUM School of Computation, Information and Technology (CIT), Technical University of Munich, Garching bei M&#x00FC;nchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054771935","display_name":"Kuanqi Cai","orcid":"https://orcid.org/0000-0002-3655-8116"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kuanqi Cai","raw_affiliation_strings":["Chair of Robotics and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-3655-8116","affiliations":[{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011058134","display_name":"Yu Zhang","orcid":"https://orcid.org/0000-0002-5509-3799"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["Chair of Robotics, Artificial Intelligence and Real-time Systems, TUM School of Computation, Information and Technology (CIT), Technical University of Munich, Garching bei M&#x00FC;nchen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5509-3799","affiliations":[{"raw_affiliation_string":"Chair of Robotics, Artificial Intelligence and Real-time Systems, TUM School of Computation, Information and Technology (CIT), Technical University of Munich, Garching bei M&#x00FC;nchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060444894","display_name":"Zhenshan Bing","orcid":"https://orcid.org/0000-0002-0896-2517"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zhenshan Bing","raw_affiliation_strings":["Chair of Robotics, Artificial Intelligence and Real-time Systems, TUM School of Computation, Information and Technology (CIT), Technical University of Munich, Garching bei M&#x00FC;nchen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-0896-2517","affiliations":[{"raw_affiliation_string":"Chair of Robotics, Artificial Intelligence and Real-time Systems, TUM School of Computation, Information and Technology (CIT), Technical University of Munich, Garching bei M&#x00FC;nchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616949","display_name":"Chaoqun Wang","orcid":"https://orcid.org/0000-0001-5780-7284"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoqun Wang","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, Shandong, China"],"raw_orcid":"https://orcid.org/0000-0001-5780-7284","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, Shandong, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100380478","display_name":"Fan Wu","orcid":"https://orcid.org/0000-0001-5051-3005"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fan Wu","raw_affiliation_strings":["Chair of Robotics and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5051-3005","affiliations":[{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Chair of Robotics and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-7696-4955","affiliations":[{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Chair of Robotics, Artificial Intelligence and Real-time Systems, TUM School of Computation, Information and Technology (CIT), Technical University of Munich, Garching bei M&#x00FC;nchen, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4840-076X","affiliations":[{"raw_affiliation_string":"Chair of Robotics, Artificial Intelligence and Real-time Systems, TUM School of Computation, Information and Technology (CIT), Technical University of Munich, Garching bei M&#x00FC;nchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5111122200"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":11.2369,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.98146069,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"22","issue":null,"first_page":"18580","last_page":"18593"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9815000295639038,"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"}},"topics":[{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9815000295639038,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9538000226020813,"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/T12535","display_name":"Machine Learning and Data Classification","score":0.91839998960495,"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/adaptive-sampling","display_name":"Adaptive sampling","score":0.5554667711257935},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5300459861755371},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5046714544296265},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.20907706022262573},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1826697289943695},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1808190941810608},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.09502601623535156}],"concepts":[{"id":"https://openalex.org/C2781395549","wikidata":"https://www.wikidata.org/wiki/Q4680762","display_name":"Adaptive sampling","level":3,"score":0.5554667711257935},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5300459861755371},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5046714544296265},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.20907706022262573},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1826697289943695},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1808190941810608},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.09502601623535156},{"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":2,"locations":[{"id":"doi:10.1109/tase.2025.3590084","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2025.3590084","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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:2508.21549","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2508.21549","pdf_url":"https://arxiv.org/pdf/2508.21549","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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"}],"best_oa_location":{"id":"doi:10.1109/tase.2025.3590084","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2025.3590084","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.47999998927116394,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W630423399","https://openalex.org/W1485487406","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W1982809790","https://openalex.org/W2036016432","https://openalex.org/W2107535513","https://openalex.org/W2109212155","https://openalex.org/W2110762409","https://openalex.org/W2141664020","https://openalex.org/W2159722616","https://openalex.org/W2169528473","https://openalex.org/W2794663059","https://openalex.org/W2963130659","https://openalex.org/W2963439114","https://openalex.org/W3004407706","https://openalex.org/W3006249771","https://openalex.org/W3011646207","https://openalex.org/W3091295346","https://openalex.org/W3091360778","https://openalex.org/W3098336417","https://openalex.org/W4211252686","https://openalex.org/W4212864265","https://openalex.org/W4236470048","https://openalex.org/W4283780127","https://openalex.org/W4379409379","https://openalex.org/W4383109094","https://openalex.org/W4405785118","https://openalex.org/W4405786701","https://openalex.org/W4406079894","https://openalex.org/W4409581283","https://openalex.org/W6605295560","https://openalex.org/W6629573421","https://openalex.org/W6683620479"],"related_works":["https://openalex.org/W2038693912","https://openalex.org/W1991602789","https://openalex.org/W1582396021","https://openalex.org/W1988359706","https://openalex.org/W312558119","https://openalex.org/W4210985407","https://openalex.org/W2335441444","https://openalex.org/W138014004","https://openalex.org/W2075598034","https://openalex.org/W2984441180"],"abstract_inverted_index":{"Path":[0],"planning":[1,288],"in":[2,154,177,232,374],"robotics":[3],"often":[4],"involves":[5],"solving":[6],"continuously":[7,234],"valued,":[8],"high-dimensional":[9],"problems.":[10],"Popular":[11],"informed":[12,29,43,91,229,301],"approaches":[13],"include":[14],"graph-based":[15],"searches,":[16],"such":[17,23],"as":[18,24,45],"A*,":[19],"and":[20,31,67,76,146,162,193,277],"sampling-based":[21,40,173],"methods,":[22],"Informed":[25,39],"RRT*,":[26],"which":[27,73,283,362],"utilize":[28],"set":[30,302,316],"anytime":[32],"strategies":[33],"to":[34,135,185,198,216,245,257,275,318,349,382,390],"expedite":[35],"path":[36,143,230,264,287,393],"optimization":[37],"incrementally.":[38],"planners":[41,65,174,231,250,273],"define":[42,258],"sets":[44,92],"subsets":[46],"of":[47,160],"the":[48,53,69,101,106,119,124,224,253,279,286,311,320,325,341,346,364],"problem":[49,259,281],"domain":[50],"based":[51,93,122,303,339],"on":[52,94,123,252,304,340],"current":[54,255],"best":[55,254],"solution":[56,61,97,242,256,307],"cost.":[57],"However,":[58],"when":[59,238],"no":[60],"is":[62,74,166,209,243],"found,":[63],"these":[64,272],"re-sample":[66,276],"explore":[68,278],"entire":[70,280],"configuration":[71],"space,":[72,282],"time-consuming":[75],"computationally":[77],"expensive.":[78],"This":[79,314],"article":[80],"introduces":[81],"Multi-Informed":[82],"Trees":[83],"(MIT*),":[84],"a":[85,158,262],"novel":[86],"planner":[87],"that":[88,116,168,336,368],"constructs":[89],"estimated":[90,300,315],"prior":[95,305],"admissible":[96,306],"costs":[98,308],"before":[99,309],"finding":[100,310],"initial":[102,107,240,312,326],"solution,":[103],"thereby":[104,323],"accelerating":[105,324],"convergence":[108,327],"rate.":[109,328],"Moreover,":[110],"MIT*":[111,128,169,292,329,356],"employs":[112,357],"an":[113,239,299,332],"adaptive":[114,131,333,358],"sampler":[115],"dynamically":[117,337],"adjusts":[118,338],"sampling":[120,334],"strategy":[121,335],"exploration":[125,343],"process.":[126,289],"Furthermore,":[127,355],"utilizes":[129],"length-related":[130],"sparse":[132,359],"collision":[133,360],"checks":[134],"guide":[136,363],"lazy":[137,263,269,365],"reverse":[138,270,366],"search.":[139],"These":[140],"features":[141],"enhance":[142],"cost":[144],"efficiency":[145,371],"computation":[147],"times":[148],"while":[149],"ensuring":[150],"high":[151],"success":[152],"rates":[153],"confined":[155],"scenarios.":[156],"Through":[157],"series":[159],"simulations":[161],"real-world":[163,199],"experiments,":[164],"it":[165],"confirmed":[167],"outperforms":[170],"existing":[171,228],"single-query,":[172],"for":[175,219],"problems":[176],"<inline-formula":[178,186],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[179,187,213],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[180,188],"<tex-math":[181,189],"notation=\"LaTeX\">$\\mathbb":[182,190],"{R}^{4}$":[183],"</tex-math></inline-formula>":[184,192],"{R}^{16}$":[191],"has":[194,265],"been":[195,266],"successfully":[196],"applied":[197,381],"robot":[200],"manipulation":[201],"tasks.":[202],"A":[203],"video":[204],"showcasing":[205],"our":[206],"experimental":[207],"results":[208],"available":[210],"at:":[211],"<uri":[212],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://youtu.be/30RsBIdexTU</uri>":[214],"Note":[215],"Practitioners\u2014The":[217],"motivation":[218],"this":[220,295],"work":[221],"stems":[222],"from":[223],"challenges":[225],"faced":[226],"by":[227,297],"high-dimensional,":[233],"valued":[235],"environments,":[236],"particularly":[237],"feasible":[241],"difficult":[244],"find.":[246],"Traditional":[247],"asymmetric":[248],"bidirectional":[249],"rely":[251],"subsets.":[260],"When":[261],"found":[267],"through":[268,352],"search,":[271],"tend":[274],"could":[284],"hinder":[285],"Our":[290],"proposed":[291,377],"algorithm":[293,378],"addresses":[294],"issue":[296],"constructing":[298],"solution.":[313],"helps":[317],"narrow":[319],"search":[321,367],"area,":[322],"also":[330],"integrates":[331],"ongoing":[342],"process,":[344],"enhancing":[345],"planner\u2019s":[347],"ability":[348],"efficiently":[350],"navigate":[351],"challenging":[353],"spaces.":[354],"checks,":[361],"balances":[369],"computational":[370],"with":[372],"accuracy":[373],"pathfinding.":[375],"The":[376],"can":[379],"be":[380],"industrial":[383],"robots,":[384,386],"humanoid":[385],"or":[387],"service":[388],"robots":[389],"achieve":[391],"efficient":[392],"planning.":[394]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5}],"updated_date":"2026-05-27T09:02:27.158192","created_date":"2025-10-10T00:00:00"}
