{"id":"https://openalex.org/W7128538594","doi":"https://doi.org/10.1109/tii.2026.3654514","title":"GH-FMT: Heuristic-Based Expansion and Sampling for Fast Path Planning in Unknown Environments","display_name":"GH-FMT: Heuristic-Based Expansion and Sampling for Fast Path Planning in Unknown Environments","publication_year":2026,"publication_date":"2026-02-10","ids":{"openalex":"https://openalex.org/W7128538594","doi":"https://doi.org/10.1109/tii.2026.3654514"},"language":null,"primary_location":{"id":"doi:10.1109/tii.2026.3654514","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2026.3654514","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","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/A5081523214","display_name":"Y. D. Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjie Chen","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0001-9750-9177","affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108221076","display_name":"Zhennan Lai","orcid":null},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhennan Lai","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China"],"raw_orcid":"https://orcid.org/0009-0009-3719-317X","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113918607","display_name":"Zhican Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaoguo Zeng","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China"],"raw_orcid":"https://orcid.org/0009-0008-6970-8484","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108998991","display_name":"Wensheng Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wensheng Jiang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China"],"raw_orcid":"https://orcid.org/0009-0000-6559-9649","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100721041","display_name":"Liping Zhang","orcid":"https://orcid.org/0000-0003-1962-0106"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liping Zhang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122889080","display_name":"Huimin Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huimin Lu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-6375-581X","affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5125517586","display_name":"Yaonan Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Yaonan Wang","raw_affiliation_strings":["School of Artificial Intelligence and Robotics, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-0519-6458","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I4210121405"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13702656,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":"5","first_page":"4020","last_page":"4031"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9896000027656555,"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":0.9896000027656555,"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":0.0012000000569969416,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.0008999999845400453,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6728000044822693},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5716999769210815},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5554999709129333},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5235999822616577},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4846000075340271},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.4790000021457672},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4429999887943268},{"id":"https://openalex.org/keywords/adaptive-sampling","display_name":"Adaptive sampling","score":0.43299999833106995},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.42419999837875366}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6728000044822693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6403999924659729},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5838000178337097},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5716999769210815},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5554999709129333},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5235999822616577},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4846000075340271},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.4790000021457672},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4429999887943268},{"id":"https://openalex.org/C2781395549","wikidata":"https://www.wikidata.org/wiki/Q4680762","display_name":"Adaptive sampling","level":3,"score":0.43299999833106995},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.42419999837875366},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.3971000015735626},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3779999911785126},{"id":"https://openalex.org/C13670688","wikidata":"https://www.wikidata.org/wiki/Q3500548","display_name":"Space partitioning","level":2,"score":0.37049999833106995},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.3544999957084656},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.34380000829696655},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3034999966621399},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.29679998755455017},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.29490000009536743},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.29490000009536743},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2867000102996826},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.2840000092983246},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.28369998931884766},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.2734000086784363},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2639000117778778},{"id":"https://openalex.org/C52740198","wikidata":"https://www.wikidata.org/wiki/Q1539564","display_name":"Importance sampling","level":3,"score":0.2597000002861023},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.25459998846054077}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2026.3654514","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2026.3654514","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1772707023","display_name":null,"funder_award_id":"62273098","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":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"generally":[2],"face":[3],"formidable":[4],"challenges":[5],"in":[6,11,48,96,143,154],"unknown":[7,49],"dynamic":[8,50],"environments,":[9],"particularly":[10],"the":[12,76,93,144,148,163,173],"aspects":[13],"of":[14,44,75,92,129],"rapidly":[15],"searching":[16],"feasible":[17],"and":[18,32,46,69,72,89,133,137,157,172],"high-quality":[19,38,123],"solutions.":[20,124],"In":[21],"this":[22],"article,":[23],"Gaussian-heuristic":[24],"fast":[25],"marching":[26],"tree":[27,95],"(GH-FMT),":[28],"including":[29],"heuristic":[30,101],"expansion":[31,55],"sampling,":[33],"is":[34,57,83,110,160,166,176],"proposed":[35,149],"to":[36,85,115],"provide":[37],"solutions":[39],"while":[40],"simultaneously":[41],"improving":[42],"efficiency":[43],"planning":[45,146],"replanning":[47],"environments.":[51,77],"Specifically,":[52],"an":[53],"adaptive":[54],"region":[56],"defined":[58],"using":[59,99],"a":[60,100,106,127],"boundary-based":[61],"Gaussian":[62],"distribution,":[63],"minimizing":[64],"potential":[65,117],"redundant":[66],"collision":[67],"checking":[68],"supports":[70],"effective":[71],"comprehensive":[73],"exploration":[74,91],"A":[78],"hybrid":[79,107],"incremental":[80],"search":[81,94,164],"strategy":[82,109],"designed":[84],"reduce":[86],"sample":[87],"density":[88],"prioritized":[90],"promising":[97],"directions":[98],"single":[102],"sampling":[103],"method.":[104],"Moreover,":[105],"optimization":[108],"employed":[111],"under":[112],"time":[113,165],"constraints":[114],"identify":[116],"nodes,":[118],"enabling":[119],"efficient":[120],"convergence":[121],"toward":[122],"Finally,":[125],"through":[126],"series":[128],"challenging":[130],"simulation":[131],"scenarios":[132],"real-world":[134],"experimental":[135],"investigations,":[136],"by":[138,170,178],"benchmarking":[139],"against":[140],"current-leading":[141],"variants":[142],"sampling-based":[145],"class,":[147],"GH-FMT":[150],"demonstrated":[151],"favorable":[152],"advantages":[153],"flexibility,":[155],"safety,":[156],"rapidity.":[158],"It":[159],"shown":[161],"that":[162],"reduced":[167,177],"on":[168,179],"average":[169,180],"15.8%":[171],"path":[174],"cost":[175],"13.5%.":[181]},"counts_by_year":[],"updated_date":"2026-05-08T13:12:06.581006","created_date":"2026-02-11T00:00:00"}
