{"id":"https://openalex.org/W2975379023","doi":"https://doi.org/10.1145/3351917.3351990","title":"Deep Learning rooted Potential piloted RRT* for expeditious Path Planning","display_name":"Deep Learning rooted Potential piloted RRT* for expeditious Path Planning","publication_year":2019,"publication_date":"2019-07-19","ids":{"openalex":"https://openalex.org/W2975379023","doi":"https://doi.org/10.1145/3351917.3351990","mag":"2975379023"},"language":"en","primary_location":{"id":"doi:10.1145/3351917.3351990","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3351917.3351990","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","raw_type":"proceedings-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/A5081556538","display_name":"Snehal Reddy Koukuntla","orcid":null},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Snehal Reddy Koukuntla","raw_affiliation_strings":["Indian Institute of Technology, Kharagpur, West Bengal"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology, Kharagpur, West Bengal","institution_ids":["https://openalex.org/I145894827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066749713","display_name":"Manjunath Bhat","orcid":null},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Manjunath Bhat","raw_affiliation_strings":["Indian Institute of Technology, Khargapur, West Bengal, India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology, Khargapur, West Bengal, India","institution_ids":["https://openalex.org/I145894827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085023117","display_name":"Shamin Aggarwal","orcid":null},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Shamin Aggarwal","raw_affiliation_strings":["Indian Institute of Technology, Kharagpur, West Bengal, India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology, Kharagpur, West Bengal, India","institution_ids":["https://openalex.org/I145894827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044961383","display_name":"Rajat Kumar Jenamani","orcid":"https://orcid.org/0000-0002-2689-7157"},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Rajat Kumar Jenamani","raw_affiliation_strings":["Indian Institute of Technology, Kharagpur, West Bengal, India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology, Kharagpur, West Bengal, India","institution_ids":["https://openalex.org/I145894827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037492743","display_name":"Jayanta Mukhopadhyay","orcid":"https://orcid.org/0000-0002-2491-6860"},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Jayanta Mukhopadhyay","raw_affiliation_strings":["Indian Institute of Technology, Kharagpur, West Bengal, India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology, Kharagpur, West Bengal, India","institution_ids":["https://openalex.org/I145894827"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5081556538"],"corresponding_institution_ids":["https://openalex.org/I145894827"],"apc_list":null,"apc_paid":null,"fwci":0.2024,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.541666,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11241","display_name":"Advanced Malware Detection Techniques","score":0.9807000160217285,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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":0.7068690657615662},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.6194188594818115},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.612388014793396},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5819565653800964},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5559619665145874},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5395094752311707},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5370838046073914},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.5239353775978088},{"id":"https://openalex.org/keywords/path-length","display_name":"Path length","score":0.5172934532165527},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.4655739963054657},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4450918734073639},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.443570077419281},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3656984567642212},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3324962258338928},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2708311080932617},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10309663414955139},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.0728532075881958}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7068690657615662},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.6194188594818115},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.612388014793396},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5819565653800964},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5559619665145874},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5395094752311707},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5370838046073914},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.5239353775978088},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.5172934532165527},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4655739963054657},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4450918734073639},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.443570077419281},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3656984567642212},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3324962258338928},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2708311080932617},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10309663414955139},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.0728532075881958},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3351917.3351990","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3351917.3351990","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.800000011920929,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1490705107","https://openalex.org/W1534866974","https://openalex.org/W2219970372","https://openalex.org/W2294424735","https://openalex.org/W2392999217","https://openalex.org/W2523246573","https://openalex.org/W2557741120","https://openalex.org/W2562163136","https://openalex.org/W2900993519","https://openalex.org/W2964170993","https://openalex.org/W3106475722","https://openalex.org/W3147261154","https://openalex.org/W4241524986"],"related_works":["https://openalex.org/W2333571655","https://openalex.org/W3139139461","https://openalex.org/W2108906364","https://openalex.org/W4388759217","https://openalex.org/W3211562997","https://openalex.org/W3011727645","https://openalex.org/W2104320275","https://openalex.org/W2056737145","https://openalex.org/W1660309994","https://openalex.org/W2268712943"],"abstract_inverted_index":{"Randomised":[0],"sampling-based":[1],"algorithms":[2,186],"such":[3,216],"as":[4,79,139,187,189,217],"RRT":[5],"and":[6,24,49,71,109,142,160,172,177],"RRT*":[7,31,44],"have":[8],"widespread":[9],"use":[10],"in":[11,116,201],"path":[12,161,176,191,205],"planning,":[13],"but":[14],"they":[15],"tend":[16],"to":[17,26,41,56,69,125,170,214],"take":[18],"a":[19,38,75,93,111,120,140,151],"considerable":[20],"amount":[21],"of":[22,119,158],"time":[23],"space":[25,68,78,91,105],"converge":[27],"towards":[28,46,146],"the":[29,43,47,52,60,82,101,117,127,132,144,147,156,168,174,182,204],"destination.":[30],"with":[32],"artificial":[33],"potential":[34,62,83,133],"field":[35],"(RRT*-APF)":[36],"is":[37,92,207,212],"novel":[39],"solution":[40],"pilot":[42],"sampling":[45,185],"destination":[48],"away":[50],"from":[51,65],"obstacles,":[53],"thus":[54],"leading":[55],"faster":[57,180],"convergence.":[58],"But":[59],"ideal":[61],"function":[63,84,134],"varies":[64],"one":[66],"configuration":[67,77,90,104],"another":[70],"different":[72],"sections":[73],"within":[74],"single":[76],"well.":[80],"Finding":[81],"for":[85,88],"each":[86],"section":[87],"every":[89],"grueling":[94],"task.":[95],"In":[96],"this":[97,195],"paper,":[98],"we":[99],"divide":[100],"2":[102],"dimensional":[103],"into":[106],"multiple":[107,209],"regions":[108],"propose":[110],"deep":[112],"learning":[113],"based":[114],"approach":[115],"form":[118],"custom":[121],"feedforward":[122],"neural":[123],"network":[124],"tune":[126],"sensitive":[128],"parameters,":[129],"upon":[130],"which":[131,149,211],"depends.":[135],"These":[136],"parameters":[137],"act":[138],"heuristic":[141],"pilots":[143],"tree":[145],"destination,":[148],"has":[150,166],"substantial":[152],"effect":[153],"on":[154],"both":[155],"rate":[157],"convergence":[159],"length.":[162],"Our":[163],"algorithm,":[164],"DL-P-RRT*":[165],"shown":[167],"ability":[169],"learn":[171],"emulate":[173],"shortest":[175],"converges":[178],"much":[179],"than":[181],"current":[183],"random":[184],"well":[188],"deterministic":[190],"planning":[192],"algorithms.":[193],"So,":[194],"algorithm":[196],"can":[197],"be":[198],"used":[199],"effectively":[200],"environments":[202],"where":[203],"planner":[206],"called":[208],"times,":[210],"typical":[213],"events":[215],"Robo-Soccer.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
