{"id":"https://openalex.org/W2966212751","doi":"https://doi.org/10.24963/ijcai.2019/167","title":"Path Planning with CPD Heuristics","display_name":"Path Planning with CPD Heuristics","publication_year":2019,"publication_date":"2019-07-28","ids":{"openalex":"https://openalex.org/W2966212751","doi":"https://doi.org/10.24963/ijcai.2019/167","mag":"2966212751"},"language":"en","primary_location":{"id":"doi:10.24963/ijcai.2019/167","is_oa":true,"landing_page_url":"https://doi.org/10.24963/ijcai.2019/167","pdf_url":"https://www.ijcai.org/proceedings/2019/0167.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.ijcai.org/proceedings/2019/0167.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038403972","display_name":"Massimo Bono","orcid":null},"institutions":[{"id":"https://openalex.org/I79940851","display_name":"University of Brescia","ror":"https://ror.org/02q2d2610","country_code":"IT","type":"education","lineage":["https://openalex.org/I79940851"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Massimo Bono","raw_affiliation_strings":["Dipartimento di Ingegneria dell\u2019Informazione, Universita degli Studi di Brescia, Brescia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell\u2019Informazione, Universita degli Studi di Brescia, Brescia, Italy","institution_ids":["https://openalex.org/I79940851"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073627176","display_name":"Alfonso Gerevini","orcid":"https://orcid.org/0000-0001-9008-6386"},"institutions":[{"id":"https://openalex.org/I79940851","display_name":"University of Brescia","ror":"https://ror.org/02q2d2610","country_code":"IT","type":"education","lineage":["https://openalex.org/I79940851"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alfonso E. Gerevini","raw_affiliation_strings":["Dipartimento di Ingegneria dell\u2019Informazione, Universita degli Studi di Brescia, Brescia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell\u2019Informazione, Universita degli Studi di Brescia, Brescia, Italy","institution_ids":["https://openalex.org/I79940851"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035664456","display_name":"Daniel Harabor","orcid":"https://orcid.org/0000-0001-6828-7712"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Daniel D. Harabor","raw_affiliation_strings":["Faculty of Information Technology, Monash University, Melbourne, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Information Technology, Monash University, Melbourne, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064839018","display_name":"Peter J. Stuckey","orcid":"https://orcid.org/0000-0003-2186-0459"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Peter J. Stuckey","raw_affiliation_strings":["Faculty of Information Technology, Monash University, Melbourne, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Information Technology, Monash University, Melbourne, Australia","institution_ids":["https://openalex.org/I56590836"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5038403972"],"corresponding_institution_ids":["https://openalex.org/I79940851"],"apc_list":null,"apc_paid":null,"fwci":2.0032,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.87374322,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1199","last_page":"1205"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11106","display_name":"Data Management and Algorithms","score":0.993399977684021,"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"}},"topics":[{"id":"https://openalex.org/T11106","display_name":"Data Management and Algorithms","score":0.993399977684021,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9908000230789185,"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/T11269","display_name":"Algorithms and Data Compression","score":0.9898999929428101,"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/heuristics","display_name":"Heuristics","score":0.8948470950126648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6955622434616089},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.659730851650238},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6479633450508118},{"id":"https://openalex.org/keywords/pathfinding","display_name":"Pathfinding","score":0.5771639943122864},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5255692601203918},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.4901450574398041},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.47525569796562195},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.452353298664093},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.4473270773887634},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4210849404335022},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.34576255083084106},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2558137774467468},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17193886637687683},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.15447187423706055}],"concepts":[{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.8948470950126648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6955622434616089},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.659730851650238},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6479633450508118},{"id":"https://openalex.org/C25321074","wikidata":"https://www.wikidata.org/wiki/Q1969601","display_name":"Pathfinding","level":4,"score":0.5771639943122864},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5255692601203918},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.4901450574398041},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.47525569796562195},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.452353298664093},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.4473270773887634},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4210849404335022},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.34576255083084106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2558137774467468},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17193886637687683},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.15447187423706055},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"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/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.24963/ijcai.2019/167","is_oa":true,"landing_page_url":"https://doi.org/10.24963/ijcai.2019/167","pdf_url":"https://www.ijcai.org/proceedings/2019/0167.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence","raw_type":"proceedings-article"},{"id":"pmh:oai:monash.edu:publications/c5578e5f-367c-4f41-bdd4-26f220114eb0","is_oa":true,"landing_page_url":"https://research.monash.edu/en/publications/c5578e5f-367c-4f41-bdd4-26f220114eb0","pdf_url":null,"source":{"id":"https://openalex.org/S4306402625","display_name":"Monash University Research Portal (Monash University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I56590836","host_organization_name":"Monash University","host_organization_lineage":["https://openalex.org/I56590836"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Bono , M , Gerevini , A , Harabor , D & Stuckey , P 2019 , Path planning with CPD heuristics . in S Kraus (ed.) , Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence . IJCAI International Joint Conference on Artificial Intelligence , vol. 2019-August , Association for the Advancement of Artificial Intelligence (AAAI) , Marina del Rey CA USA , pp. 1199-1205 , International Joint Conference on Artificial Intelligence 2019 , Macao , China , 10/08/19 . https://doi.org/10.24963/ijcai.2019/167","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:iris.unibs.it:11379/526092","is_oa":true,"landing_page_url":"http://hdl.handle.net/11379/526092","pdf_url":null,"source":{"id":"https://openalex.org/S4306400804","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Brescia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66752286","host_organization_name":"University of Milano-Bicocca","host_organization_lineage":["https://openalex.org/I66752286"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"doi:10.24963/ijcai.2019/167","is_oa":true,"landing_page_url":"https://doi.org/10.24963/ijcai.2019/167","pdf_url":"https://www.ijcai.org/proceedings/2019/0167.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence","raw_type":"proceedings-article"},"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2966212751.pdf","grobid_xml":"https://content.openalex.org/works/W2966212751.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W27349819","https://openalex.org/W147738233","https://openalex.org/W1599935894","https://openalex.org/W1622225657","https://openalex.org/W1779869868","https://openalex.org/W1904636577","https://openalex.org/W1920501755","https://openalex.org/W2014889099","https://openalex.org/W2028945152","https://openalex.org/W2120783268","https://openalex.org/W2143083884","https://openalex.org/W2146583842","https://openalex.org/W2148831787","https://openalex.org/W2169717584","https://openalex.org/W2189503459","https://openalex.org/W2201539200","https://openalex.org/W2290289666","https://openalex.org/W2394686934","https://openalex.org/W2401722941","https://openalex.org/W2613904412","https://openalex.org/W2704588827","https://openalex.org/W2811063006","https://openalex.org/W2966216482"],"related_works":["https://openalex.org/W3177062893","https://openalex.org/W3125143773","https://openalex.org/W2007032764","https://openalex.org/W803550684","https://openalex.org/W2483226803","https://openalex.org/W3143937874","https://openalex.org/W4312926500","https://openalex.org/W2067280619","https://openalex.org/W4251343851","https://openalex.org/W4352977312"],"abstract_inverted_index":{"Compressed":[0],"Path":[1],"Databases":[2],"(CPDs)":[3],"are":[4],"a":[5,61,81,112,124],"leading":[6],"technique":[7],"for":[8,129],"optimal":[9,94],"pathfinding":[10],"in":[11,31,111,120,131],"graphs":[12],"with":[13],"static":[14],"edge":[15],"costs.":[16],"In":[17],"this":[18,109],"work":[19],"we":[20,28],"investigate":[21],"CPDs":[22],"as":[23],"admissible":[24],"heuristic":[25],"functions":[26],"and":[27,45,63,83,119],"apply":[29],"them":[30],"two":[32],"distinct":[33],"settings:":[34],"problems":[35],"where":[36,48],"the":[37,68,72,93,106],"graph":[38],"is":[39,51],"subject":[40],"to":[41,71,91,122],"dynamically":[42],"changing":[43],"costs,":[44],"anytime":[46],"settings":[47],"deliberation":[49],"time":[50],"limited.":[52],"Conventional":[53],"heuristics":[54,75],"derive":[55,76],"cost-to-go":[56,77],"estimates":[57,78],"by":[58,79],"reasoning":[59],"about":[60],"tentative":[62],"usually":[64,84],"infeasible":[65],"path,":[66],"from":[67,98,102],"current":[69],"node":[70],"target.":[73],"CPD-based":[74],"computing":[80],"concrete":[82],"feasible":[85],"path.":[86],"We":[87,104],"exploit":[88],"such":[89],"paths":[90],"bound":[92],"solution,":[95],"not":[96],"just":[97],"below":[99],"but":[100],"also":[101,127],"above.":[103],"demonstrate":[105],"benefit":[107],"of":[108,114],"approach":[110],"range":[113],"experiments":[115],"on":[116],"standard":[117],"gridmaps":[118],"comparison":[121],"Landmarks,":[123],"popular":[125],"alternative":[126],"developed":[128],"searching":[130],"explicit":[132],"state-spaces.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}