{"id":"https://openalex.org/W4412353439","doi":"https://doi.org/10.1109/tie.2025.3574520","title":"P-RT-BFMT: A Prediction-Based Real-Time Bidirectional Fast Marching Tree for Robot Motion Planning in Dynamic Environments","display_name":"P-RT-BFMT: A Prediction-Based Real-Time Bidirectional Fast Marching Tree for Robot Motion Planning in Dynamic Environments","publication_year":2025,"publication_date":"2025-07-11","ids":{"openalex":"https://openalex.org/W4412353439","doi":"https://doi.org/10.1109/tie.2025.3574520"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2025.3574520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3574520","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Jin Liu","orcid":"https://orcid.org/0009-0001-1769-6222"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Liu","raw_affiliation_strings":["School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Yanshan University, Qinhuangdao, China","School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0009-0001-1769-6222","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048357136","display_name":"Ying Zhang","orcid":"https://orcid.org/0000-0001-8982-8223"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Zhang","raw_affiliation_strings":["School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Yanshan University, Qinhuangdao, China","School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0001-8982-8223","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109790753","display_name":"Shaohan Bian","orcid":"https://orcid.org/0009-0008-4452-0389"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaohan Bian","raw_affiliation_strings":["School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Yanshan University, Qinhuangdao, China","School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0009-0008-4452-0389","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Renjie Song","orcid":"https://orcid.org/0009-0001-9027-8406"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Renjie Song","raw_affiliation_strings":["School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Yanshan University, Qinhuangdao, China","School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0009-0001-9027-8406","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015343493","display_name":"Cuihua Zhang","orcid":"https://orcid.org/0000-0003-2275-4578"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cui-Hua Zhang","raw_affiliation_strings":["School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Yanshan University, Qinhuangdao, China","School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0003-2275-4578","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025262477","display_name":"Yan-Qiao Wei","orcid":"https://orcid.org/0000-0001-7620-3988"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanqiao Wei","raw_affiliation_strings":["School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Yanshan University, Qinhuangdao, China","School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0001-7620-3988","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100380201","display_name":"Changchun Hua","orcid":"https://orcid.org/0000-0001-6311-2112"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changchun Hua","raw_affiliation_strings":["School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Yanshan University, Qinhuangdao, China","School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0001-6311-2112","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Electrical Engineering and Hebei Key Laboratory of Intelligent Rehabilitation and Neuromodulation, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I39333907"],"apc_list":null,"apc_paid":null,"fwci":0.7655,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.72073236,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"72","issue":"12","first_page":"13627","last_page":"13636"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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":0.9979000091552734,"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":0.9868999719619751,"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/T10533","display_name":"Teaching and Learning Programming","score":0.9707000255584717,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"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/motion-planning","display_name":"Motion planning","score":0.6313896775245667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6313199996948242},{"id":"https://openalex.org/keywords/fast-marching-method","display_name":"Fast marching method","score":0.5893914103507996},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5556108951568604},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5065497159957886},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.49105095863342285},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43707579374313354},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4029619097709656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3802059590816498},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3757856488227844},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3271621763706207},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15883541107177734}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6313896775245667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6313199996948242},{"id":"https://openalex.org/C17866373","wikidata":"https://www.wikidata.org/wiki/Q5437042","display_name":"Fast marching method","level":2,"score":0.5893914103507996},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5556108951568604},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5065497159957886},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.49105095863342285},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43707579374313354},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4029619097709656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3802059590816498},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3757856488227844},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3271621763706207},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15883541107177734},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3574520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3574520","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6800000071525574}],"awards":[{"id":"https://openalex.org/G1438256657","display_name":null,"funder_award_id":"F2024203115","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G2840487366","display_name":null,"funder_award_id":"62073279","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4674858220","display_name":null,"funder_award_id":"F2024203036","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"},{"id":"https://openalex.org/G5760530916","display_name":null,"funder_award_id":"62203378","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8587872273","display_name":null,"funder_award_id":"F2025203101","funder_id":"https://openalex.org/F4320322163","funder_display_name":"Natural Science Foundation of Hebei Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322163","display_name":"Natural Science Foundation of Hebei Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1814533834","https://openalex.org/W1864112212","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W2076162824","https://openalex.org/W2080674339","https://openalex.org/W2092330486","https://openalex.org/W2141664020","https://openalex.org/W2294424735","https://openalex.org/W2774346829","https://openalex.org/W3006249771","https://openalex.org/W3197331740","https://openalex.org/W3207145466","https://openalex.org/W4211252686","https://openalex.org/W4212795265","https://openalex.org/W4220889379","https://openalex.org/W4236251699","https://openalex.org/W4253193475","https://openalex.org/W4280590673","https://openalex.org/W4293193500","https://openalex.org/W4308310328","https://openalex.org/W4383108169","https://openalex.org/W4383220183","https://openalex.org/W4386078167","https://openalex.org/W4388868804","https://openalex.org/W4392309203","https://openalex.org/W4392358192","https://openalex.org/W4406317665","https://openalex.org/W4407168545"],"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":{"Traditional":[0],"rapidly-exploring":[1],"random":[2],"tree":[3,66,106],"(RRT)":[4],"algorithms":[5],"and":[6,78,161,172,175,191],"their":[7],"variants":[8],"have":[9],"achieved":[10],"significant":[11],"success.":[12],"However,":[13],"they":[14],"still":[15],"face":[16],"challenges":[17],"in":[18,27,51,83,94,123,155,169,184,193],"the":[19,63,71,84,87,97,102,115,148,176,180],"real-time":[20,36,58,187],"motion":[21,37,48,120],"planning":[22,38,49,59,98,121,188],"performance":[23,50,122],"for":[24,40,114],"mobile":[25,41],"robots":[26],"complex":[28,194],"dynamic":[29,52,124,140,195],"environments.":[30,53,125],"This":[31,144],"article":[32],"presents":[33],"an":[34,56,111,129],"efficient":[35,57],"algorithm":[39],"robots,":[42],"termed":[43],"P-RT-BFMT,":[44],"aimed":[45],"at":[46],"enhancing":[47],"We":[54],"develop":[55],"framework":[60],"based":[61,133],"on":[62,134],"fast":[64],"marching":[65],"(FMT),":[67],"which":[68],"significantly":[69],"reduces":[70,147],"number":[72],"of":[73,104,150,182,186],"collision":[74,137],"checks":[75],"by":[76],"uniformly":[77],"randomly":[79],"distributing":[80],"all":[81],"samples":[82],"environment":[85],"during":[86],"initial":[88,112],"phase,":[89],"thus":[90],"outperforming":[91],"traditional":[92,156],"RRT":[93],"efficiency.":[95],"In":[96],"process,":[99],"P-RT-BFMT":[100,183],"employs":[101],"concept":[103],"bidirectional":[105],"expansion":[107],"to":[108],"efficiently":[109],"find":[110],"solution":[113],"global":[116],"path,":[117],"further":[118],"improving":[119],"Additionally,":[126],"we":[127],"designed":[128],"event-triggered":[130],"execution":[131,162],"scheme":[132],"predicting":[135],"potential":[136],"risks,":[138],"enabling":[139],"local":[141,151],"path":[142,152],"replanning.":[143],"treatment":[145],"effectively":[146],"frequency":[149],"replanning":[153],"seen":[154],"algorithms,":[157],"alleviating":[158],"computational":[159],"burdens":[160],"costs.":[163],"Extensive":[164],"comparative":[165],"experiments":[166],"are":[167],"conducted":[168],"both":[170],"simulated":[171],"real":[173],"environments,":[174],"experimental":[177],"results":[178],"validate":[179],"reliability":[181],"terms":[185],"performance,":[189],"robustness,":[190],"effectiveness":[192],"scenarios.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-12-06T23:10:59.065948","created_date":"2025-10-10T00:00:00"}