{"id":"https://openalex.org/W3025305679","doi":"https://doi.org/10.1109/tie.2020.2992978","title":"Informed Anytime Fast Marching Tree for Asymptotically Optimal Motion Planning","display_name":"Informed Anytime Fast Marching Tree for Asymptotically Optimal Motion Planning","publication_year":2020,"publication_date":"2020-05-12","ids":{"openalex":"https://openalex.org/W3025305679","doi":"https://doi.org/10.1109/tie.2020.2992978","mag":"3025305679"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2020.2992978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2020.2992978","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/Informed_anytime_fast_marching_tree_for_asymptotically-optimal_motion_planning/12302240","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026304746","display_name":"Jing Xu","orcid":"https://orcid.org/0000-0001-6257-8770"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Xu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0001-6257-8770","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010927997","display_name":"Kechen Song","orcid":"https://orcid.org/0000-0002-7636-3460"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kechen Song","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-7636-3460","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101975286","display_name":"Defu Zhang","orcid":"https://orcid.org/0000-0002-3701-5236"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Defu Zhang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-3701-5236","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001350505","display_name":"Hongwen Dong","orcid":"https://orcid.org/0000-0003-2079-2079"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongwen Dong","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0003-2079-2079","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043667109","display_name":"Yunhui Yan","orcid":"https://orcid.org/0000-0001-7121-2367"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunhui Yan","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China, Northeastern University, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0001-7121-2367","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014654309","display_name":"Qinggang Meng","orcid":"https://orcid.org/0000-0002-9483-5724"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Qinggang Meng","raw_affiliation_strings":["Department of Computer Science, Loughborough University, Loughborough, U.K"],"raw_orcid":"https://orcid.org/0000-0002-9483-5724","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Loughborough University, Loughborough, U.K","institution_ids":["https://openalex.org/I143804889"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3478,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.80799328,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"68","issue":"6","first_page":"5068","last_page":"5077"},"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":0.9735000133514404,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9617000222206116,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/asymptotically-optimal-algorithm","display_name":"Asymptotically optimal algorithm","score":0.7190885543823242},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6150616407394409},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5510960221290588},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5203666090965271},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.49764159321784973},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.4972544014453888},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.49473926424980164},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4800518751144409},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.469662070274353},{"id":"https://openalex.org/keywords/completeness","display_name":"Completeness (order theory)","score":0.42976635694503784},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3383704423904419},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3356935977935791},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3343098759651184},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3047429919242859},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29217997193336487},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.16982465982437134}],"concepts":[{"id":"https://openalex.org/C181789720","wikidata":"https://www.wikidata.org/wiki/Q4812191","display_name":"Asymptotically optimal algorithm","level":2,"score":0.7190885543823242},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6150616407394409},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5510960221290588},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5203666090965271},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.49764159321784973},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.4972544014453888},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.49473926424980164},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4800518751144409},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.469662070274353},{"id":"https://openalex.org/C17231256","wikidata":"https://www.wikidata.org/wiki/Q5156540","display_name":"Completeness (order theory)","level":2,"score":0.42976635694503784},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3383704423904419},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3356935977935791},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3343098759651184},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3047429919242859},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29217997193336487},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.16982465982437134},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tie.2020.2992978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2020.2992978","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},{"id":"pmh:oai:figshare.com:article/12302240","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Informed_anytime_fast_marching_tree_for_asymptotically-optimal_motion_planning/12302240","pdf_url":null,"source":{"id":"https://openalex.org/S4306402585","display_name":"Loughborough University Research Repository (Loughborough University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I143804889","host_organization_name":"Loughborough University","host_organization_lineage":["https://openalex.org/I143804889"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/12302240","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Informed_anytime_fast_marching_tree_for_asymptotically-optimal_motion_planning/12302240","pdf_url":null,"source":{"id":"https://openalex.org/S4306402585","display_name":"Loughborough University Research Repository (Loughborough University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I143804889","host_organization_name":"Loughborough University","host_organization_lineage":["https://openalex.org/I143804889"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6700000166893005,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G191047512","display_name":null,"funder_award_id":"2017YFB0304200","funder_id":"https://openalex.org/F4320336026","funder_display_name":"National Key Research and Development Program of China Stem Cell and Translational Research"},{"id":"https://openalex.org/G5379158986","display_name":"\u9762\u5411\u91d1\u5c5e\u677f\u8868\u9762\u975e\u5b8c\u6574\u4fe1\u606f\u76ee\u6807\u7684\u8bc6\u522b\u65b9\u6cd5\u7814\u7a76","funder_award_id":"51374063","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6235082000","display_name":null,"funder_award_id":"51805078","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"},{"id":"https://openalex.org/F4320336026","display_name":"National Key Research and Development Program of China Stem Cell and Translational Research","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1014665884","https://openalex.org/W1578640434","https://openalex.org/W1587371456","https://openalex.org/W1771182989","https://openalex.org/W1814533834","https://openalex.org/W1864112212","https://openalex.org/W1963969090","https://openalex.org/W1971086298","https://openalex.org/W2000359213","https://openalex.org/W2004100691","https://openalex.org/W2055201760","https://openalex.org/W2110762409","https://openalex.org/W2112271657","https://openalex.org/W2128990851","https://openalex.org/W2161819990","https://openalex.org/W2562548250","https://openalex.org/W2626457025","https://openalex.org/W2753014192","https://openalex.org/W2766428590","https://openalex.org/W2794029453","https://openalex.org/W2795190293","https://openalex.org/W2795660380","https://openalex.org/W2808443520","https://openalex.org/W2877466430","https://openalex.org/W2888275475","https://openalex.org/W2890523827","https://openalex.org/W2906415336","https://openalex.org/W2909688514","https://openalex.org/W2940973835","https://openalex.org/W2963130659","https://openalex.org/W3100966471","https://openalex.org/W3102509322","https://openalex.org/W3103346840","https://openalex.org/W3104996132"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W1987694097","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W3158818664","https://openalex.org/W2077416514","https://openalex.org/W2797949337"],"abstract_inverted_index":{"In":[0,18],"many":[1],"applications,":[2],"it":[3,61],"is":[4],"necessary":[5],"for":[6,37],"motion":[7,39],"planning":[8,40],"planners":[9],"to":[10,92,94],"get":[11],"high-quality":[12,96],"solutions":[13],"in":[14],"high-dimensional":[15],"complex":[16],"problems.":[17,41],"this":[19],"article,":[20],"we":[21],"propose":[22],"an":[23],"anytime":[24,31],"asymptotically":[25],"optimal":[26,50,69],"sampling-based":[27],"algorithm,":[28],"namely,":[29],"informed":[30],"fast":[32],"marching":[33],"tree":[34],"(IAFMT*),":[35],"designed":[36],"solving":[38],"Employing":[42],"a":[43,48,55,95,110],"hybrid":[44],"incremental":[45],"search":[46],"and":[47,83,101,109],"dynamic":[49],"search,":[51],"the":[52,65,68,75,87],"IAFMT*fast":[53],"finds":[54],"feasible":[56],"solution;":[57],"if":[58],"time":[59],"permits,":[60],"can":[62],"efficiently":[63],"improve":[64],"solution":[66,97],"toward":[67],"solution.":[70],"This":[71],"article":[72],"also":[73],"presents":[74],"theoretical":[76],"analysis":[77],"of":[78],"probabilistic":[79],"completeness,":[80],"asymptotic":[81],"optimality,":[82],"computational":[84],"complexity":[85],"on":[86],"proposed":[88],"algorithm.":[89],"Its":[90],"ability":[91],"converge":[93],"with":[98],"efficiency,":[99],"stability,":[100],"self-adaptability":[102],"has":[103],"been":[104],"tested":[105],"by":[106],"challenging":[107],"simulations":[108],"humanoid":[111],"mobile":[112],"robot.":[113]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":4}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}