{"id":"https://openalex.org/W2947291395","doi":"https://doi.org/10.5220/0007679500860094","title":"Accelerated RRT* and Its Evaluation on Autonomous Parking","display_name":"Accelerated RRT* and Its Evaluation on Autonomous Parking","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2947291395","doi":"https://doi.org/10.5220/0007679500860094","mag":"2947291395"},"language":"en","primary_location":{"id":"doi:10.5220/0007679500860094","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0007679500860094","pdf_url":null,"source":{"id":"https://openalex.org/S4363609002","display_name":"Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.5220/0007679500860094","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067490841","display_name":"Jiri Vlasak","orcid":"https://orcid.org/0000-0002-6618-8152"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Jiri Vlasak","raw_affiliation_strings":["Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Jugoslavskych partyzanu 1580/3, Prague, Czech Republic, --- Select a Country ---","Faculty of Electrical Engineering, Czech Technical University in Prague, Technicka 2, Prague, Czech Republic, --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Jugoslavskych partyzanu 1580/3, Prague, Czech Republic, --- Select a Country ---","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University in Prague, Technicka 2, Prague, Czech Republic, --- Select a Country ---","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085476423","display_name":"Micha\u0142 S\u00f3jka","orcid":"https://orcid.org/0000-0002-8738-075X"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Michal Sojka","raw_affiliation_strings":["Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Jugoslavskych partyzanu 1580/3, Prague, Czech Republic, --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Jugoslavskych partyzanu 1580/3, Prague, Czech Republic, --- Select a Country ---","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039174863","display_name":"Zden\u011bk Hanz\u00e1lek","orcid":"https://orcid.org/0000-0002-8135-1296"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Zden\u011bk Hanz\u00e1lek","raw_affiliation_strings":["Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Jugoslavskych partyzanu 1580/3, Prague, Czech Republic, --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Jugoslavskych partyzanu 1580/3, Prague, Czech Republic, --- Select a Country ---","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":0.1827,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.46949698,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"86","last_page":"94"},"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":0.9945999979972839,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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":0.7054498195648193},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6047163009643555},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.5837452411651611},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5341070890426636},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4597042500972748},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.4115844964981079},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3882492184638977},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36951255798339844},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33866578340530396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.226983904838562},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22198891639709473},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14425572752952576},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06887316703796387}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7054498195648193},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6047163009643555},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.5837452411651611},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5341070890426636},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4597042500972748},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.4115844964981079},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3882492184638977},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36951255798339844},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33866578340530396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.226983904838562},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22198891639709473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14425572752952576},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06887316703796387},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.5220/0007679500860094","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0007679500860094","pdf_url":null,"source":{"id":"https://openalex.org/S4363609002","display_name":"Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2002.04521","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.04521","pdf_url":"https://arxiv.org/pdf/2002.04521","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.5220/0007679500860094","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0007679500860094","pdf_url":null,"source":{"id":"https://openalex.org/S4363609002","display_name":"Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems","raw_type":"proceedings-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6600000262260437,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1965730439","https://openalex.org/W1971086298","https://openalex.org/W1971998222","https://openalex.org/W1984375475","https://openalex.org/W2017989066","https://openalex.org/W2036361448","https://openalex.org/W2059051145","https://openalex.org/W2067913950","https://openalex.org/W2076162824","https://openalex.org/W2098029503","https://openalex.org/W2103639171","https://openalex.org/W2110762409","https://openalex.org/W2114738290","https://openalex.org/W2124964742","https://openalex.org/W2163385431","https://openalex.org/W2288650507","https://openalex.org/W2741758001"],"related_works":["https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W1991478428","https://openalex.org/W3215492696","https://openalex.org/W2257960210","https://openalex.org/W2028510469","https://openalex.org/W913501818","https://openalex.org/W2021628292","https://openalex.org/W4379525781","https://openalex.org/W1660309994"],"abstract_inverted_index":{"Finding":[0],"a":[1,67],"collision-free":[2],"path":[3,60,68],"for":[4,69],"autonomous":[5],"parking":[6,71],"is":[7,26],"usually":[8],"performed":[9],"by":[10],"computing":[11],"geometric":[12,16],"equations,":[13],"but":[14],"the":[15,58],"approach":[17],"may":[18],"become":[19],"unusable":[20],"under":[21],"challenging":[22],"situations":[23],"where":[24],"space":[25],"highly":[27,44],"constrained.":[28],"We":[29],"propose":[30],"an":[31],"algorithm":[32,51,65],"based":[33],"on":[34],"Rapidly-Exploring":[35],"Random":[36],"Trees":[37],"Star":[38],"(RRT*),":[39],"which":[40],"works":[41],"even":[42],"in":[43,73,78],"constrained":[45],"environments":[46],"and":[47,56],"improvements":[48],"to":[49],"RRT*-based":[50],"that":[52],"accelerate":[53],"computational":[54],"time":[55],"decrease":[57],"final":[59],"cost.":[61],"Our":[62],"improved":[63],"RRT*":[64],"found":[66],"parallel":[70],"maneuver":[72],"95":[74],"%":[75],"of":[76],"cases":[77],"less":[79],"than":[80],"0.15":[81],"seconds.":[82]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-08-18T07:49:30.821534","created_date":"2025-10-10T00:00:00"}