{"id":"https://openalex.org/W4399144464","doi":"https://doi.org/10.1145/3654823.3654880","title":"BTR-RRT*: Biased Towards Path Reference Points Path Planning","display_name":"BTR-RRT*: Biased Towards Path Reference Points Path Planning","publication_year":2024,"publication_date":"2024-03-22","ids":{"openalex":"https://openalex.org/W4399144464","doi":"https://doi.org/10.1145/3654823.3654880"},"language":"en","primary_location":{"id":"doi:10.1145/3654823.3654880","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3654823.3654880","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2024 3rd Asia Conference on Algorithms, Computing and Machine Learning","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/A5002452082","display_name":"Jixiang Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210130035","display_name":"China Communications Construction Company (China)","ror":"https://ror.org/03q3een69","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210130035"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Julong Gu","raw_affiliation_strings":["China Communications First Highway Engineering Fifth Engineering Co., Ltd, China"],"raw_orcid":"https://orcid.org/0009-0002-0535-5102","affiliations":[{"raw_affiliation_string":"China Communications First Highway Engineering Fifth Engineering Co., Ltd, China","institution_ids":["https://openalex.org/I4210130035"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102852416","display_name":"L.\u2010P. Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210130035","display_name":"China Communications Construction Company (China)","ror":"https://ror.org/03q3een69","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210130035"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingyue Xu","raw_affiliation_strings":["China Communications First Highway Engineering Fifth Engineering Co., Ltd, China"],"raw_orcid":"https://orcid.org/0009-0006-7646-7944","affiliations":[{"raw_affiliation_string":"China Communications First Highway Engineering Fifth Engineering Co., Ltd, China","institution_ids":["https://openalex.org/I4210130035"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101797856","display_name":"Wu Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210130035","display_name":"China Communications Construction Company (China)","ror":"https://ror.org/03q3een69","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210130035"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wu Liu","raw_affiliation_strings":["China Communications First Highway Engineering Fifth Engineering Co., Ltd, China"],"raw_orcid":"https://orcid.org/0009-0002-4852-1393","affiliations":[{"raw_affiliation_string":"China Communications First Highway Engineering Fifth Engineering Co., Ltd, China","institution_ids":["https://openalex.org/I4210130035"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xing Huang","orcid":"https://orcid.org/0009-0007-5985-1773"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xing Huang","raw_affiliation_strings":["CCCC Jianshi Digital Technology (Suzhou) Co. Ltd, China"],"raw_orcid":"https://orcid.org/0009-0007-5985-1773","affiliations":[{"raw_affiliation_string":"CCCC Jianshi Digital Technology (Suzhou) Co. Ltd, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103220564","display_name":"Kuo Li","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4210136497","display_name":"Jilin Medical University","ror":"https://ror.org/03mzw7781","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210136497"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kuo Li","raw_affiliation_strings":["Jilin University, China"],"raw_orcid":"https://orcid.org/0009-0006-2731-6584","affiliations":[{"raw_affiliation_string":"Jilin University, China","institution_ids":["https://openalex.org/I4210136497","https://openalex.org/I194450716"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5002452082"],"corresponding_institution_ids":["https://openalex.org/I4210130035"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06331787,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"309","last_page":"314"},"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":0.9955999851226807,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9842000007629395,"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/path","display_name":"Path (computing)","score":0.7604031562805176},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7035022974014282},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6671675443649292},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5775847434997559},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5197665095329285},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5037533640861511},{"id":"https://openalex.org/keywords/start-point","display_name":"Start point","score":0.47009655833244324},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44238054752349854},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4421800971031189},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3694908320903778},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3295177221298218},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20946398377418518},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.1304439902305603},{"id":"https://openalex.org/keywords/end-point","display_name":"End point","score":0.11148270964622498},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.0791274905204773}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7604031562805176},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7035022974014282},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6671675443649292},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5775847434997559},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5197665095329285},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5037533640861511},{"id":"https://openalex.org/C2779859299","wikidata":"https://www.wikidata.org/wiki/Q7602527","display_name":"Start point","level":3,"score":0.47009655833244324},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44238054752349854},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4421800971031189},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3694908320903778},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3295177221298218},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20946398377418518},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.1304439902305603},{"id":"https://openalex.org/C2987804222","wikidata":"https://www.wikidata.org/wiki/Q5376582","display_name":"End point","level":2,"score":0.11148270964622498},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0791274905204773},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3654823.3654880","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3654823.3654880","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2024 3rd Asia Conference on Algorithms, Computing and Machine Learning","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.550000011920929,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1777783943","https://openalex.org/W1969483458","https://openalex.org/W1976930960","https://openalex.org/W2113256452","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2949623849","https://openalex.org/W3002132318","https://openalex.org/W3011646207","https://openalex.org/W3134878008","https://openalex.org/W4249545506","https://openalex.org/W4292083457","https://openalex.org/W4297818472","https://openalex.org/W4320059021","https://openalex.org/W6631638067","https://openalex.org/W6637922210","https://openalex.org/W6682642761","https://openalex.org/W6685290738"],"related_works":["https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W4319071249","https://openalex.org/W3197840586","https://openalex.org/W4319977881"],"abstract_inverted_index":{"To":[0],"enhance":[1],"the":[2,10,45,60,69,72,82,86,107,111,116,121,126,130,134,137,144,148],"efficiency":[3,127],"of":[4,12,63,75,128,136,147],"robot":[5],"path":[6,28,77],"planning":[7],"and":[8,37,65,90,115],"address":[9],"issue":[11],"blind":[13],"search":[14,84],"in":[15],"sampling-based":[16],"algorithms,":[17],"this":[18],"paper":[19],"introduces":[20],"a":[21],"new":[22],"sampling":[23,83],"algorithm":[24,40,109,123],"called":[25],"biased":[26],"towards":[27],"reference":[29],"point":[30],"RRT*":[31,113],"(BTR-RRT*)":[32],"based":[33],"on":[34],"neural":[35,47],"networks":[36],"RRT*.":[38],"The":[39],"operates":[41],"as":[42,57,59],"follows:":[43],"initially,":[44],"trained":[46],"network":[48],"model":[49,70],"is":[50,140],"employed":[51],"to":[52,99],"gather":[53],"map":[54],"environment":[55],"information,":[56],"well":[58],"location":[61],"details":[62],"starting":[64],"ending":[66],"points.":[67],"Then,":[68],"predicts":[71],"probability":[73],"distribution":[74],"feasible":[76,103],"nodes":[78,88],"areas.":[79],"Subsequently,":[80],"during":[81],"process,":[85],"predicted":[87],"areas":[89],"state":[91],"space":[92],"are":[93],"randomly":[94],"sampled":[95],"with":[96,110],"different":[97],"probabilities":[98],"obtain":[100],"an":[101],"initial":[102,131,138],"path.":[104],"We":[105],"compared":[106],"BTR-RRT*":[108,122],"traditional":[112],"algorithm,":[114],"simulation":[117],"results":[118],"showed":[119],"that":[120],"significantly":[124],"improved":[125],"solving":[129],"solution.":[132],"Furthermore,":[133],"quality":[135],"solution":[139],"notably":[141],"superior,":[142],"facilitating":[143],"iterative":[145],"optimization":[146],"algorithm.":[149]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}