{"id":"https://openalex.org/W4414671699","doi":"https://doi.org/10.3390/a18100615","title":"An Adaptive Rapidly-Exploring Random Trees Algorithm Based on Cross-Entropy Optimization","display_name":"An Adaptive Rapidly-Exploring Random Trees Algorithm Based on Cross-Entropy Optimization","publication_year":2025,"publication_date":"2025-09-29","ids":{"openalex":"https://openalex.org/W4414671699","doi":"https://doi.org/10.3390/a18100615"},"language":"en","primary_location":{"id":"doi:10.3390/a18100615","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a18100615","pdf_url":"https://www.mdpi.com/1999-4893/18/10/615/pdf?version=1759204921","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1999-4893/18/10/615/pdf?version=1759204921","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100624302","display_name":"Duo Zhao","orcid":"https://orcid.org/0000-0002-3543-9203"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Duo Zhao","raw_affiliation_strings":["School of Electrical Engineering, Southwest Jiaotong University, Chengdu 611756, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu 611756, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102782890","display_name":"Qichao Tang","orcid":"https://orcid.org/0000-0003-4663-5864"},"institutions":[{"id":"https://openalex.org/I165745306","display_name":"Southwest Petroleum University","ror":"https://ror.org/03h17x602","country_code":"CN","type":"education","lineage":["https://openalex.org/I165745306"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qichao Tang","raw_affiliation_strings":["School of Electrical Engineering and Information, Southwest Petroleum University, Chengdu 610500, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Information, Southwest Petroleum University, Chengdu 610500, China","institution_ids":["https://openalex.org/I165745306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064304208","display_name":"Lei Ma","orcid":"https://orcid.org/0000-0002-0906-3978"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Ma","raw_affiliation_strings":["School of Electrical Engineering, Southwest Jiaotong University, Chengdu 611756, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu 611756, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102794448","display_name":"Yongkui Sun","orcid":"https://orcid.org/0000-0003-2480-3265"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongkui Sun","raw_affiliation_strings":["School of Electrical Engineering, Southwest Jiaotong University, Chengdu 611756, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu 611756, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084198176","display_name":"Jieyu Lei","orcid":"https://orcid.org/0000-0001-6354-6295"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jieyu Lei","raw_affiliation_strings":["School of Electrical Engineering, Southwest Jiaotong University, Chengdu 611756, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu 611756, China","institution_ids":["https://openalex.org/I4800084"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100624302"],"corresponding_institution_ids":["https://openalex.org/I4800084"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2588867,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"18","issue":"10","first_page":"615","last_page":"615"},"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/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.9966999888420105,"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"}},{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9936000108718872,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6466000080108643},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6287000179290771},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.529699981212616},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.5059000253677368},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44040000438690186},{"id":"https://openalex.org/keywords/adaptive-sampling","display_name":"Adaptive sampling","score":0.3993000090122223},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.38199999928474426},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.37770000100135803},{"id":"https://openalex.org/keywords/random-search","display_name":"Random search","score":0.3244999945163727}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6466000080108643},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6287000179290771},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6182000041007996},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6104000210762024},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.529699981212616},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.5059000253677368},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.45329999923706055},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44040000438690186},{"id":"https://openalex.org/C2781395549","wikidata":"https://www.wikidata.org/wiki/Q4680762","display_name":"Adaptive sampling","level":3,"score":0.3993000090122223},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.38199999928474426},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.37770000100135803},{"id":"https://openalex.org/C126661757","wikidata":"https://www.wikidata.org/wiki/Q4925641","display_name":"Random search","level":2,"score":0.3244999945163727},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.3222000002861023},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.3174999952316284},{"id":"https://openalex.org/C2987595161","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Optimization algorithm","level":2,"score":0.30820000171661377},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.29109999537467957},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.2879999876022339},{"id":"https://openalex.org/C207024777","wikidata":"https://www.wikidata.org/wiki/Q621673","display_name":"Search tree","level":3,"score":0.2847000062465668},{"id":"https://openalex.org/C135320971","wikidata":"https://www.wikidata.org/wiki/Q1868524","display_name":"Local search (optimization)","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.2750999927520752},{"id":"https://openalex.org/C2776003309","wikidata":"https://www.wikidata.org/wiki/Q1988072","display_name":"Adaptive algorithm","level":2,"score":0.27459999918937683},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27239999175071716},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2687000036239624},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25529998540878296},{"id":"https://openalex.org/C109718341","wikidata":"https://www.wikidata.org/wiki/Q1385229","display_name":"Metaheuristic","level":2,"score":0.2515999972820282}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/a18100615","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a18100615","pdf_url":"https://www.mdpi.com/1999-4893/18/10/615/pdf?version=1759204921","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:63e5c2c7457347cf90e40fb50574d125","is_oa":true,"landing_page_url":"https://doaj.org/article/63e5c2c7457347cf90e40fb50574d125","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Algorithms, Vol 18, Iss 10, p 615 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/a18100615","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a18100615","pdf_url":"https://www.mdpi.com/1999-4893/18/10/615/pdf?version=1759204921","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2928177525","display_name":null,"funder_award_id":"2020ZDZX0015","funder_id":"https://openalex.org/F4320333335","funder_display_name":"Sichuan Province Science and Technology Support Program"},{"id":"https://openalex.org/G5672252627","display_name":null,"funder_award_id":"2020ZDZX0015","funder_id":"https://openalex.org/F4320322922","funder_display_name":"Department of Science and Technology of Sichuan Province"}],"funders":[{"id":"https://openalex.org/F4320322922","display_name":"Department of Science and Technology of Sichuan Province","ror":"https://ror.org/04323m874"},{"id":"https://openalex.org/F4320333335","display_name":"Sichuan Province Science and Technology Support Program","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4414671699.pdf","grobid_xml":"https://content.openalex.org/works/W4414671699.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1969483458","https://openalex.org/W1970217647","https://openalex.org/W1971086298","https://openalex.org/W1985658808","https://openalex.org/W2000359213","https://openalex.org/W2003171415","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2145089737","https://openalex.org/W2162112538","https://openalex.org/W2306644740","https://openalex.org/W2515498963","https://openalex.org/W2748793686","https://openalex.org/W2887439418","https://openalex.org/W2909688514","https://openalex.org/W3011646207","https://openalex.org/W3108449827","https://openalex.org/W3135798356","https://openalex.org/W3215003840","https://openalex.org/W4236470048"],"related_works":[],"abstract_inverted_index":{"In":[0,81,160],"this":[1],"paper":[2],"a":[3,21,171],"novel":[4],"adaptive":[5,38,50],"rapidly-exploring":[6],"random":[7],"trees":[8],"algorithm":[9,67,134,153,165],"based":[10,178],"on":[11,179],"cross-entropy":[12,66],"optimization":[13,125],"(CE-RRT)":[14],"is":[15,41,54,68,94],"proposed.":[16],"We":[17],"seek":[18],"to":[19,43,56,70,83,96,118,169],"provide":[20],"low-cost,":[22],"fast,":[23],"and":[24,77,87,105,111,140,149],"effective":[25],"solution":[26],"for":[27,174],"path":[28,79,98,141,173],"planning":[29,99],"of":[30,61,89,122],"robots":[31],"in":[32,74,101,157],"various":[33],"complex":[34],"environments.":[35,159],"Firstly,":[36],"an":[37,49],"sampling":[39],"strategy":[40,53],"introduced":[42,69],"make":[44],"the":[45,58,62,65,85,90,120,123,131,151,162,175,180],"search":[46,59,138],"directional.":[47],"Then,":[48],"step":[51],"adjustment":[52],"proposed":[55,91,132,163],"improve":[57,78,137],"efficiency":[60,139],"algorithm.":[63],"Finally,":[64],"optimize":[71],"redundant":[72],"nodes":[73],"feasible":[75],"paths":[76],"quality.":[80,142],"order":[82],"verify":[84],"feasibility":[86],"effectiveness":[88,121],"algorithm,":[92],"it":[93],"used":[95,115,168],"solve":[97],"problems":[100],"two":[102],"two-dimensional":[103],"environments":[104],"one":[106],"three-dimensional":[107,158],"environment.":[108],"The":[109,127],"RRT":[110],"RRT*":[112],"algorithms":[113],"are":[114],"as":[116],"benchmarks":[117],"measure":[119],"three":[124],"strategies.":[126],"simulation":[128,183],"demonstrates":[129],"that":[130],"CE-RRT":[133,152,164],"can":[135,166],"effectively":[136],"Particularly":[143],"(path":[144],"shortened":[145],"by":[146],"26%,":[147],"22.70%,":[148],"49.11%),":[150],"exhibits":[154],"stronger":[155],"robustness":[156],"addition,":[161],"be":[167],"plan":[170],"reasonable":[172],"dual":[176,181],"robot":[177],"Sawyer":[182],"platform.":[184]},"counts_by_year":[],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
