{"id":"https://openalex.org/W2753014192","doi":"https://doi.org/10.1109/tro.2017.2738664","title":"Fast Sampling-Based Cost-Aware Path Planning With Nonmyopic Extensions Using Cross Entropy","display_name":"Fast Sampling-Based Cost-Aware Path Planning With Nonmyopic Extensions Using Cross Entropy","publication_year":2017,"publication_date":"2017-08-28","ids":{"openalex":"https://openalex.org/W2753014192","doi":"https://doi.org/10.1109/tro.2017.2738664","mag":"2753014192"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2017.2738664","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2738664","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5101682061","display_name":"Junghun Suh","orcid":"https://orcid.org/0000-0001-9051-8097"},"institutions":[{"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":true,"raw_author_name":"Junghun Suh","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-9051-8097","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071323493","display_name":"Joonsig Gong","orcid":null},"institutions":[{"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":"Joonsig Gong","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033764106","display_name":"Songhwai Oh","orcid":"https://orcid.org/0000-0002-9781-2018"},"institutions":[{"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":"Songhwai Oh","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-9781-2018","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101682061"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":1.664,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.90788574,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"33","issue":"6","first_page":"1313","last_page":"1326"},"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":0.9975000023841858,"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":0.9975000023841858,"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/motion-planning","display_name":"Motion planning","score":0.6628296971321106},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5434224605560303},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5370171666145325},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.49732688069343567},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4653428792953491},{"id":"https://openalex.org/keywords/cross-entropy","display_name":"Cross entropy","score":0.4104583263397217},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35592225193977356},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3380829095840454},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32946503162384033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.317533940076828},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29710495471954346},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.2021051049232483},{"id":"https://openalex.org/keywords/principle-of-maximum-entropy","display_name":"Principle of maximum entropy","score":0.12390705943107605}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6628296971321106},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5434224605560303},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5370171666145325},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.49732688069343567},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4653428792953491},{"id":"https://openalex.org/C167981619","wikidata":"https://www.wikidata.org/wiki/Q1685498","display_name":"Cross entropy","level":3,"score":0.4104583263397217},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35592225193977356},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3380829095840454},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32946503162384033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.317533940076828},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29710495471954346},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.2021051049232483},{"id":"https://openalex.org/C9679016","wikidata":"https://www.wikidata.org/wiki/Q1417473","display_name":"Principle of maximum entropy","level":2,"score":0.12390705943107605},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2017.2738664","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2017.2738664","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5400000214576721,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G3644807349","display_name":null,"funder_award_id":"NRF-2017R1A2B2006136","funder_id":"https://openalex.org/F4320322030","funder_display_name":"Ministry of Science, ICT and Future Planning"}],"funders":[{"id":"https://openalex.org/F4320322030","display_name":"Ministry of Science, ICT and Future Planning","ror":"https://ror.org/032e49973"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W113922173","https://openalex.org/W1502364872","https://openalex.org/W1554056522","https://openalex.org/W1658011328","https://openalex.org/W1971086298","https://openalex.org/W1987188608","https://openalex.org/W1990777642","https://openalex.org/W1996763811","https://openalex.org/W2000359213","https://openalex.org/W2009618608","https://openalex.org/W2010209632","https://openalex.org/W2014578444","https://openalex.org/W2016011633","https://openalex.org/W2019965290","https://openalex.org/W2034801091","https://openalex.org/W2035296041","https://openalex.org/W2051462265","https://openalex.org/W2055609113","https://openalex.org/W2090528409","https://openalex.org/W2096246174","https://openalex.org/W2098029503","https://openalex.org/W2101975311","https://openalex.org/W2107149337","https://openalex.org/W2108434160","https://openalex.org/W2109032771","https://openalex.org/W2117168072","https://openalex.org/W2124455817","https://openalex.org/W2126888775","https://openalex.org/W2132083787","https://openalex.org/W2134176008","https://openalex.org/W2145432448","https://openalex.org/W2146467128","https://openalex.org/W2162112538","https://openalex.org/W2167531936","https://openalex.org/W2213277935","https://openalex.org/W2253223109","https://openalex.org/W2296385533","https://openalex.org/W2341171179","https://openalex.org/W2405526757","https://openalex.org/W3140434919","https://openalex.org/W3170972998","https://openalex.org/W4211049957","https://openalex.org/W6604620403","https://openalex.org/W6647217015","https://openalex.org/W6659320166","https://openalex.org/W6674443108","https://openalex.org/W6676005675","https://openalex.org/W6691924626"],"related_works":["https://openalex.org/W1764572413","https://openalex.org/W2359600231","https://openalex.org/W3216757130","https://openalex.org/W2380019117","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3154539612","https://openalex.org/W2118356379"],"abstract_inverted_index":{"This":[0,72],"paper":[1,73],"presents":[2,74],"a":[3,21,49,57,62,69,87,105,127],"cost-effective":[4],"motion-planning":[5],"method":[6,96,191],"for":[7,34],"robots":[8],"operating":[9],"in":[10,48,120],"complex":[11,50],"and":[12,27,86,131,179,183],"realistic":[13],"environments.":[14],"While":[15],"sampling-based":[16],"path-planning":[17,36,78],"algorithms,":[18],"such":[19],"as":[20],"rapidly":[22],"exploring":[23],"random":[24],"tree":[25,59,103,122,134,138,153],"(RRT)":[26],"its":[28],"variants,":[29],"have":[30],"been":[31],"highly":[32],"effective":[33],"general":[35],"problems,":[37],"it":[38],"is":[39,104,113],"still":[40],"difficult":[41],"to":[42,115,123,126,155],"find":[43],"the":[44,117,121,132,136,151,157,160,164,189,198],"minimum":[45],"cost":[46],"path":[47],"space":[51],"efficiently":[52],"since":[53],"RRT-based":[54],"algorithms":[55],"extend":[56],"search":[58,152],"locally,":[60],"requiring":[61],"large":[63],"number":[64],"of":[65,159,167,177],"samples":[66],"before":[67],"finding":[68],"good":[70],"solution.":[71],"an":[75,174],"efficient":[76],"nonmyopic":[77],"algorithm":[79,161],"by":[80],"combining":[81],"RRT":[82,99,107,168],"<sup":[83,108,169],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[84,109,170],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">*</sup>":[85,110,171],"stochastic":[88],"optimization":[89],"method,":[90],"called":[91],"cross":[92],"entropy.":[93],"The":[94,101],"proposed":[95,190],"constructs":[97],"two":[98,145],"trees:":[100],"first":[102,137],"standard":[106],"tree,":[111],"which":[112],"used":[114],"determine":[116],"nearest":[118],"node":[119],"be":[124],"extended":[125],"randomly":[128],"chosen":[129],"point,":[130],"second":[133],"contains":[135],"with":[139],"additional":[140],"long":[141],"extensions.":[142],"By":[143],"maintaining":[144],"separate":[146],"trees,":[147],"we":[148,186],"can":[149],"grow":[150],"nonmyopically":[154],"improve":[156],"efficiency":[158],"while":[162],"ensuring":[163],"asymptotic":[165],"optimality":[166],".":[172],"From":[173],"extensive":[175],"set":[176],"simulations":[178],"experiments":[180],"using":[181],"mobile":[182],"humanoid":[184],"robots,":[185],"demonstrate":[187],"that":[188],"consistently":[192],"finds":[193],"low-cost":[194],"paths":[195],"faster":[196],"than":[197],"existing":[199],"algorithms.":[200]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}