{"id":"https://openalex.org/W2036075293","doi":"https://doi.org/10.1163/016918610x496928","title":"Triple RRTs: An Effective Method for Path Planning in Narrow Passages","display_name":"Triple RRTs: An Effective Method for Path Planning in Narrow Passages","publication_year":2010,"publication_date":"2010-01-01","ids":{"openalex":"https://openalex.org/W2036075293","doi":"https://doi.org/10.1163/016918610x496928","mag":"2036075293"},"language":"en","primary_location":{"id":"doi:10.1163/016918610x496928","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918610x496928","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5100392285","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0003-4023-2845"},"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"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["a Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China","Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China","institution_ids":["https://openalex.org/I170215575","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053112608","display_name":"Xin Xu","orcid":"https://orcid.org/0000-0003-3238-745X"},"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"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Xu","raw_affiliation_strings":["b Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China","Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China","institution_ids":["https://openalex.org/I170215575","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100601671","display_name":"Yan Li","orcid":"https://orcid.org/0000-0003-0354-396X"},"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"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Li","raw_affiliation_strings":["c Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China","Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"c Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China","institution_ids":["https://openalex.org/I170215575","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109332337","display_name":"Jinze Song","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"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinze Song","raw_affiliation_strings":["d Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China","Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"d Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China","institution_ids":["https://openalex.org/I170215575","https://openalex.org/I4210112150"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110188567","display_name":"Hangen He","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"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hangen He","raw_affiliation_strings":["e Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China","Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"e Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"Institute of Automation, College of Mechatronics and Automation, National University of Defense Technology, Changsha, Hunan 410073, P. R. China","institution_ids":["https://openalex.org/I170215575","https://openalex.org/I4210112150"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9664,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.79429684,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"24","issue":"7","first_page":"943","last_page":"962"},"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":0.994700014591217,"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":0.9711999893188477,"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":0.8275929689407349},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.7309916019439697},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6058536767959595},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5765433311462402},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5212450623512268},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5207681059837341},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.48012614250183105},{"id":"https://openalex.org/keywords/connection","display_name":"Connection (principal bundle)","score":0.4674236476421356},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38806644082069397},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.33581823110580444},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3033366799354553}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8275929689407349},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.7309916019439697},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6058536767959595},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5765433311462402},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5212450623512268},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5207681059837341},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.48012614250183105},{"id":"https://openalex.org/C13355873","wikidata":"https://www.wikidata.org/wiki/Q2920850","display_name":"Connection (principal bundle)","level":2,"score":0.4674236476421356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38806644082069397},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.33581823110580444},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3033366799354553},{"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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/016918610x496928","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918610x496928","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1424654272","https://openalex.org/W1495392417","https://openalex.org/W1617800291","https://openalex.org/W1670942551","https://openalex.org/W1937587174","https://openalex.org/W1971315778","https://openalex.org/W2003835006","https://openalex.org/W2013452693","https://openalex.org/W2046356179","https://openalex.org/W2097096168","https://openalex.org/W2115257338","https://openalex.org/W2115904688","https://openalex.org/W2122724557","https://openalex.org/W2128990851","https://openalex.org/W2138182657","https://openalex.org/W2139795879","https://openalex.org/W2149016364","https://openalex.org/W2154574107","https://openalex.org/W2163426622","https://openalex.org/W2171266831","https://openalex.org/W2403902171","https://openalex.org/W2498423060","https://openalex.org/W2571987049","https://openalex.org/W2611243847","https://openalex.org/W4242811155","https://openalex.org/W4247382745"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W2106119116","https://openalex.org/W2359600231","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583"],"abstract_inverted_index":{"Although":[0],"Rapidly-exploring":[1],"Random":[2],"Trees":[3],"(RRTs)":[4],"have":[5,134],"been":[6],"successfully":[7],"applied":[8],"in":[9,31,58,123,145],"path":[10,56,130],"planning":[11,57,131],"of":[12,17,53,92,105,155],"robots":[13,144],"with":[14,62],"many":[15],"degrees":[16],"freedom":[18],"under":[19,102],"non-holonomic":[20],"and":[21,26,119,142,147],"differential":[22],"constraints,":[23],"rapidly":[24],"identifying":[25],"passing":[27],"through":[28],"narrow":[29,63],"passages":[30],"a":[32,37,45,78,99,113],"robot's":[33],"configuration":[34,60],"space":[35,61],"remains":[36],"challenge":[38],"for":[39,98,139],"RRTs-based":[40,129],"planners.":[41],"This":[42],"paper":[43],"presents":[44,89],"novel":[46],"two-stage":[47,110],"approach":[48],"to":[49,76,96],"address":[50],"the":[51,83,103,106,127,136,153,156],"problem":[52],"multi-d.o.f.":[54],"robot":[55],"high-dimensional":[59],"corridors.":[64],"The":[65,86,109],"first":[66],"stage":[67,88],"introduces":[68],"an":[69],"efficient":[70],"sampling":[71],"algorithm":[72],"called":[73,94],"Bridge":[74],"Test":[75],"find":[77],"global":[79,107,117],"roadmap":[80],"that":[81],"identifies":[82],"critical":[84],"region.":[85],"second":[87],"two":[90],"varieties":[91],"RRTs,":[93],"Triple-RRTs,":[95],"search":[97],"local":[100,120],"connection":[101],"guidance":[104],"landmark.":[108],"strategy":[111],"keeps":[112],"fine":[114],"balance":[115],"between":[116],"heuristics":[118],"connection,":[121],"resulting":[122],"high":[124],"performance":[125],"over":[126],"previous":[128],"methods.":[132],"We":[133],"implemented":[135],"Triple-RRTs":[137],"planners":[138],"both":[140],"rigid":[141],"articulated":[143],"two-":[146],"three-dimensional":[148],"environments.":[149],"Experimental":[150],"results":[151],"demonstrate":[152],"effectiveness":[154],"proposed":[157],"method.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-16T13:24:37.021932","created_date":"2025-10-10T00:00:00"}