{"id":"https://openalex.org/W2703150994","doi":"https://doi.org/10.1109/tro.2018.2830331","title":"Informed Sampling for Asymptotically Optimal Path Planning","display_name":"Informed Sampling for Asymptotically Optimal Path Planning","publication_year":2018,"publication_date":"2018-06-22","ids":{"openalex":"https://openalex.org/W2703150994","doi":"https://doi.org/10.1109/tro.2018.2830331","mag":"2703150994"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2830331","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2830331","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":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1706.06454.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035590505","display_name":"Jonathan D. Gammell","orcid":"https://orcid.org/0000-0002-1034-3889"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jonathan D. Gammell","raw_affiliation_strings":["Autonomous Space Robotics Laboratory, University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-1034-3889","affiliations":[{"raw_affiliation_string":"Autonomous Space Robotics Laboratory, University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004788089","display_name":"Timothy D. Barfoot","orcid":"https://orcid.org/0000-0003-3899-631X"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Timothy D. Barfoot","raw_affiliation_strings":["School of Computer Science and Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":"https://orcid.org/0000-0003-3899-631X","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddhartha S. Srinivasa","raw_affiliation_strings":["School of Computer Science and Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.169,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.57085781,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"34","issue":"4","first_page":"966","last_page":"984"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9860000014305115,"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":0.9860000014305115,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9821000099182129,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9729999899864197,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/mathematical-optimization","display_name":"Mathematical optimization","score":0.6485726833343506},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.6433413028717041},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.6374227404594421},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5930627584457397},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.5209532976150513},{"id":"https://openalex.org/keywords/asymptotically-optimal-algorithm","display_name":"Asymptotically optimal algorithm","score":0.49868273735046387},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.4938364624977112},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.48783376812934875},{"id":"https://openalex.org/keywords/euclidean-geometry","display_name":"Euclidean geometry","score":0.4877689480781555},{"id":"https://openalex.org/keywords/euclidean-distance","display_name":"Euclidean distance","score":0.4735516607761383},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4668239951133728},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.44818875193595886},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44804346561431885},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4431005120277405},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4223019778728485},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2327553927898407},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18114489316940308},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11643412709236145},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.09791547060012817},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.08602982759475708}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6485726833343506},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.6433413028717041},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.6374227404594421},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5930627584457397},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.5209532976150513},{"id":"https://openalex.org/C181789720","wikidata":"https://www.wikidata.org/wiki/Q4812191","display_name":"Asymptotically optimal algorithm","level":2,"score":0.49868273735046387},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.4938364624977112},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.48783376812934875},{"id":"https://openalex.org/C129782007","wikidata":"https://www.wikidata.org/wiki/Q162886","display_name":"Euclidean geometry","level":2,"score":0.4877689480781555},{"id":"https://openalex.org/C120174047","wikidata":"https://www.wikidata.org/wiki/Q847073","display_name":"Euclidean distance","level":2,"score":0.4735516607761383},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4668239951133728},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.44818875193595886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44804346561431885},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4431005120277405},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4223019778728485},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2327553927898407},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18114489316940308},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11643412709236145},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.09791547060012817},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.08602982759475708},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2018.2830331","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2830331","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"},{"id":"mag:2703150994","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1706.06454.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:ora.ox.ac.uk:uuid:3e05d57b-4cff-46d2-9787-d3fdb5de4166","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:3e05d57b-4cff-46d2-9787-d3fdb5de4166","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal article"}],"best_oa_location":{"id":"mag:2703150994","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1706.06454.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1029093600","https://openalex.org/W1501654049","https://openalex.org/W1583541992","https://openalex.org/W1814533834","https://openalex.org/W1864112212","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1977797250","https://openalex.org/W2000359213","https://openalex.org/W2036016432","https://openalex.org/W2063005413","https://openalex.org/W2066918959","https://openalex.org/W2068911002","https://openalex.org/W2084501107","https://openalex.org/W2110762409","https://openalex.org/W2112271657","https://openalex.org/W2122197938","https://openalex.org/W2124455817","https://openalex.org/W2128990851","https://openalex.org/W2133820736","https://openalex.org/W2142156433","https://openalex.org/W2143826757","https://openalex.org/W2169528473","https://openalex.org/W2296385533","https://openalex.org/W2335799662","https://openalex.org/W2570852788","https://openalex.org/W3140434919","https://openalex.org/W6630310528","https://openalex.org/W6644448126","https://openalex.org/W6647217015","https://openalex.org/W6685028272","https://openalex.org/W6714034797","https://openalex.org/W6722549091","https://openalex.org/W6741130246","https://openalex.org/W6744875893","https://openalex.org/W6891791121","https://openalex.org/W7036997554"],"related_works":["https://openalex.org/W3102509322","https://openalex.org/W2404139562","https://openalex.org/W1855325913","https://openalex.org/W2593052414","https://openalex.org/W1994043630","https://openalex.org/W3153028894","https://openalex.org/W2464737989","https://openalex.org/W3121168206","https://openalex.org/W190219697","https://openalex.org/W2154256239","https://openalex.org/W2241582741","https://openalex.org/W2241437936","https://openalex.org/W1991757391","https://openalex.org/W2099680089","https://openalex.org/W2950823092","https://openalex.org/W1492453931","https://openalex.org/W1487079463","https://openalex.org/W3006154861","https://openalex.org/W2151151096","https://openalex.org/W2133033455"],"abstract_inverted_index":{"Anytime":[0],"almost-surely":[1],"asymptotically":[2],"optimal":[3],"planners,":[4],"such":[5],"as":[6,27],"RRT*,":[7],"incrementally":[8],"find":[9,174],"paths":[10],"to":[11,38,71,85,109,173],"every":[12],"state":[13,103,153],"in":[14,95],"the":[15,48,78,118,127],"search":[16],"domain.":[17],"This":[18,56,144],"is":[19,25,139,170],"inefficient":[20],"once":[21],"an":[22],"initial":[23],"solution":[24,36],"found,":[26],"then":[28],"only":[29],"states":[30,45,63],"that":[31,91,125],"can":[32,51,68],"provide":[33],"a":[34,107,188],"better":[35,175],"need":[37],"be":[39,52,69],"considered.":[40],"Exact":[41],"knowledge":[42],"of":[43,62,113,133,146],"these":[44,60],"requires":[46],"solving":[47],"problem":[49,156],"but":[50],"approximated":[53],"with":[54,102,141],"heuristics.":[55],"paper":[57],"formally":[58],"defines":[59],"sets":[61],"and":[64,89,155,161,186],"demonstrates":[65],"how":[66],"they":[67],"used":[70],"analyze":[72,86],"arbitrary":[73],"planning":[74,184],"problems.":[75,168],"It":[76,105,169],"uses":[77],"well-known":[79],"L2":[80,128],"norm":[81],"(i.e.,":[82,98,121],"Euclidean":[83],"distance)":[84],"minimum-path-length":[87],"problems":[88,185],"shows":[90],"existing":[92,159,179],"approaches":[93],"decrease":[94],"effectiveness":[96],"factorially":[97],"faster":[99,177],"than":[100,158,178],"exponentially)":[101],"dimension.":[104],"presents":[106],"method":[108],"address":[110],"this":[111,134],"curse":[112],"dimensionality":[114],"by":[115],"directly":[116],"sampling":[117,137],"prolate":[119],"hyperspheroids":[120],"symmetric":[122],"ndimensional":[123],"ellipses)":[124],"define":[126],"informed":[129,136],"set.":[130],"The":[131],"importance":[132],"direct":[135],"technique":[138],"demonstrated":[140],"Informed":[142],"RRT*.":[143],"extension":[145],"RRT*":[147],"has":[148],"less":[149],"theoretical":[150],"dependence":[151],"on":[152,166,181],"dimension":[154],"size":[157],"techniques":[160,180],"allows":[162],"for":[163],"linear":[164],"convergence":[165],"some":[167],"shown":[171],"experimentally":[172],"solutions":[176],"both":[182],"abstract":[183],"HERB,":[187],"two-arm":[189],"manipulation":[190],"robot.":[191]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
