{"id":"https://openalex.org/W4283780127","doi":"https://doi.org/10.1177/02783649211069572","title":"Adaptively Informed Trees (AIT*) and Effort Informed Trees (EIT*): Asymmetric bidirectional sampling-based path planning","display_name":"Adaptively Informed Trees (AIT*) and Effort Informed Trees (EIT*): Asymmetric bidirectional sampling-based path planning","publication_year":2022,"publication_date":"2022-04-01","ids":{"openalex":"https://openalex.org/W4283780127","doi":"https://doi.org/10.1177/02783649211069572"},"language":"en","primary_location":{"id":"doi:10.1177/02783649211069572","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649211069572","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1177/02783649211069572","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069575110","display_name":"Marlin P. Strub","orcid":"https://orcid.org/0000-0003-2185-5852"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Marlin P Strub","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA, Work performed at the University of Oxford"],"raw_orcid":"https://orcid.org/0000-0003-2185-5852","affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA, Work performed at the University of Oxford","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035590505","display_name":"Jonathan D. Gammell","orcid":"https://orcid.org/0000-0002-1034-3889"},"institutions":[{"id":"https://openalex.org/I2802123492","display_name":"Oxford Research Group","ror":"https://ror.org/00z4w4f29","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I2802123492"]},{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jonathan D Gammell","raw_affiliation_strings":["Estimation, Search, and Planning (ESP) research group, University of Oxford, Oxford, UK"],"raw_orcid":"https://orcid.org/0000-0002-1034-3889","affiliations":[{"raw_affiliation_string":"Estimation, Search, and Planning (ESP) research group, University of Oxford, Oxford, UK","institution_ids":["https://openalex.org/I2802123492","https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5069575110"],"corresponding_institution_ids":["https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":6.6978,"has_fulltext":false,"cited_by_count":70,"citation_normalized_percentile":{"value":0.97816411,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"41","issue":"4","first_page":"390","last_page":"417"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9901000261306763,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.986299991607666,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6352390050888062},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6278854608535767},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5652825832366943},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5088934898376465},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.44217821955680847},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4314456880092621},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34916335344314575},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3152657747268677},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.15519583225250244},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14508506655693054},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.10678175091743469}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6352390050888062},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6278854608535767},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5652825832366943},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5088934898376465},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.44217821955680847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4314456880092621},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34916335344314575},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3152657747268677},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.15519583225250244},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14508506655693054},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.10678175091743469},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649211069572","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649211069572","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1177/02783649211069572","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649211069572","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6200000047683716}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":97,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W630423399","https://openalex.org/W1485487406","https://openalex.org/W1536373029","https://openalex.org/W1539048696","https://openalex.org/W1578640434","https://openalex.org/W1583541992","https://openalex.org/W1597203970","https://openalex.org/W1604397311","https://openalex.org/W1742473997","https://openalex.org/W1763528081","https://openalex.org/W1777783943","https://openalex.org/W1814533834","https://openalex.org/W1864112212","https://openalex.org/W1963969090","https://openalex.org/W1969483458","https://openalex.org/W1970761604","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W1982809790","https://openalex.org/W1986004895","https://openalex.org/W1999250663","https://openalex.org/W2000359213","https://openalex.org/W2004139909","https://openalex.org/W2042872950","https://openalex.org/W2048305907","https://openalex.org/W2081999712","https://openalex.org/W2084501107","https://openalex.org/W2085512211","https://openalex.org/W2086860466","https://openalex.org/W2103524001","https://openalex.org/W2104171123","https://openalex.org/W2110762409","https://openalex.org/W2117495699","https://openalex.org/W2124455817","https://openalex.org/W2128990851","https://openalex.org/W2132990760","https://openalex.org/W2134634502","https://openalex.org/W2139084297","https://openalex.org/W2141664020","https://openalex.org/W2143826757","https://openalex.org/W2155675331","https://openalex.org/W2159722616","https://openalex.org/W2165307897","https://openalex.org/W2169528473","https://openalex.org/W2180568546","https://openalex.org/W2288650507","https://openalex.org/W2293499200","https://openalex.org/W2294808847","https://openalex.org/W2296248084","https://openalex.org/W2299136288","https://openalex.org/W2335799662","https://openalex.org/W2405657414","https://openalex.org/W2405683058","https://openalex.org/W2406290095","https://openalex.org/W2410119929","https://openalex.org/W2561814270","https://openalex.org/W2570852788","https://openalex.org/W2602753196","https://openalex.org/W2773158215","https://openalex.org/W2883418145","https://openalex.org/W2888446832","https://openalex.org/W2890523827","https://openalex.org/W2892184971","https://openalex.org/W2914296650","https://openalex.org/W2949117375","https://openalex.org/W2950619474","https://openalex.org/W2955697550","https://openalex.org/W2963130659","https://openalex.org/W2964065924","https://openalex.org/W2964118380","https://openalex.org/W2964752547","https://openalex.org/W2966173166","https://openalex.org/W2966994687","https://openalex.org/W2988885761","https://openalex.org/W3004407706","https://openalex.org/W3006249771","https://openalex.org/W3009220630","https://openalex.org/W3030788629","https://openalex.org/W3089866190","https://openalex.org/W3089868768","https://openalex.org/W3091197103","https://openalex.org/W3091295346","https://openalex.org/W3091360778","https://openalex.org/W3091629362","https://openalex.org/W3102121895","https://openalex.org/W3102509322","https://openalex.org/W3103346840","https://openalex.org/W3120772201","https://openalex.org/W3131200966","https://openalex.org/W3146338492","https://openalex.org/W3177316897","https://openalex.org/W3206936826","https://openalex.org/W4246226690","https://openalex.org/W4249771336","https://openalex.org/W4313004735","https://openalex.org/W6628975226"],"related_works":["https://openalex.org/W2051487156","https://openalex.org/W4289260319","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/W2118356379"],"abstract_inverted_index":{"Optimal":[0],"path":[1,23,85,157,192],"planning":[2,24,86,123],"is":[3],"the":[4,68],"problem":[5],"of":[6,11,39,70,136],"finding":[7],"a":[8,14,178],"valid":[9],"sequence":[10],"states":[12],"between":[13],"start":[15],"and":[16,35,55,96,119,128,138,153,159,167,185],"goal":[17],"that":[18,165],"optimizes":[19],"an":[20,104],"objective.":[21],"Informed":[22,93,98],"algorithms":[25,87,102,144,171],"order":[26],"their":[27],"search":[28,107],"with":[29],"problem-specific":[30,132],"knowledge":[31],"expressed":[32],"as":[33],"heuristics":[34,72,181,196],"can":[36],"be":[37],"orders":[38],"magnitude":[40],"more":[41],"efficient":[42],"than":[43],"uninformed":[44],"algorithms.":[45],"Heuristics":[46],"are":[47,52,62,145,182,197],"most":[48],"effective":[49],"when":[50],"they":[51],"both":[53,110],"accurate":[54],"computationally":[56],"inexpensive":[57],"to":[58,88,121,141],"evaluate,":[59],"but":[60],"these":[61],"often":[63,183,198],"conflicting":[64],"characteristics.":[65],"This":[66,77,116],"makes":[67],"selection":[69],"appropriate":[71],"difficult":[73],"for":[74],"many":[75],"problems.":[76],"paper":[78],"presents":[79],"two":[80],"almost-surely":[81],"asymptotically":[82],"optimal":[83],"sampling-based":[84,143],"address":[89],"this":[90],"challenge,":[91],"Adaptively":[92],"Trees":[94,99],"(AIT*)":[95],"Effort":[97],"(EIT*).":[100],"These":[101],"use":[103],"asymmetric":[105],"bidirectional":[106],"in":[108,150],"which":[109],"searches":[111],"continuously":[112],"inform":[113],"each":[114],"other.":[115],"allows":[117],"AIT*":[118,137,166],"EIT*":[120,139,168],"improve":[122],"performance":[124],"by":[125],"simultaneously":[126],"calculating":[127],"exploiting":[129],"increasingly":[130],"accurate,":[131],"heuristics.":[133],"The":[134,162],"benefits":[135],"relative":[140],"other":[142,170],"demonstrated":[146],"on":[147,172,189],"12":[148],"problems":[149,173,190],"abstract,":[151],"robotic,":[152],"biomedical":[154],"domains":[155],"optimizing":[156,174],"length":[158],"obstacle":[160,175],"clearance.":[161],"experiments":[163],"show":[164],"outperform":[169],"clearance,":[176],"where":[177,194],"priori":[179],"cost":[180],"ineffective,":[184],"still":[186],"perform":[187],"well":[188],"minimizing":[191],"length,":[193],"such":[195],"effective.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":33},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2022-07-03T00:00:00"}