{"doi":"10.1109/robot.2006.1641823","title":"An obstacle-based rapidly-exploring random tree","abstract":null,"journal":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","year":2006,"id":672746,"datarank":0.7991814253184373,"base_score":5.327876168789581,"endowment":5.327876168789581,"self_citation_contribution":0.7991814253184373,"citation_network_contribution":0.0,"self_endowment_contribution":0.7991814253184373,"citer_contribution":0.0,"corpus_percentile":null,"corpus_rank":null,"citation_count":205,"citer_count":0,"citers_with_citation_signal":0,"citers_with_endowment":0,"datacite_reuse_total":0,"is_dataset":false,"is_dataset_confidence":null,"is_data_producer":false,"deposit_databanks":null,"is_oa":false,"file_count":0,"downloads":0,"has_version_chain":false,"published_date":null,"fair_score":null,"fair_percentile":null,"algorithm_id":"datarank_citation_only_1hop_v6","ranking_scope":"data_only","authors":[{"id":127077,"name":"Xinyu Tang","orcid":null,"position":1,"is_corresponding":false},{"id":1757768,"name":"Jyh-Ming Lien","orcid":null,"position":2,"is_corresponding":false},{"id":1757769,"name":"N.M. Amato","orcid":null,"position":3,"is_corresponding":false},{"id":1757767,"name":"Rodriguez","orcid":null,"position":0,"is_corresponding":false}],"reference_count":0,"raw_metadata":{"has_enrichment":true,"resolved":true,"title":"An obstacle-based rapidly-exploring random tree","abstract":"Tree-based path planners have been shown to be well suited to solve various high dimensional motion planning problems. Here we present a variant of the Rapidly-Exploring Random Tree (RRT) path planning algorithm that is able to explore narrow passages or difficult areas more effectively. We show that both workspace obstacle information and C-space information can be used when deciding which direction to grow. The method includes many ways to grow the tree, some taking into account the obstacles in the environment. This planner works best in difficult areas when planning for free flying rigid or articulated robots. Indeed, whereas the standard RRT can face difficulties planning in a narrow passage, the tree based planner presented here works best in these areas","is_dataset_classified":null,"base_score":5.327876168789581,"endowment":5.327876168789581,"datacite_reuse_total":0,"file_count":0,"downloads":0,"views":0,"has_version_chain":false,"is_dataset":false,"is_oa":false,"pmid":"19162232","pmcid":null,"openalex_id":"https://openalex.org/W2118356379","authors":[],"funders":[],"total_grants":0,"fwci":3.2512,"citation_percentile":0.93739307,"influential_citations":0,"citation_trend":[{"year":2012,"count":6},{"year":2013,"count":14},{"year":2014,"count":10},{"year":2015,"count":16},{"year":2016,"count":11},{"year":2017,"count":9},{"year":2018,"count":9},{"year":2019,"count":17},{"year":2020,"count":14},{"year":2021,"count":19},{"year":2022,"count":14},{"year":2023,"count":17},{"year":2024,"count":12},{"year":2025,"count":13},{"year":2026,"count":3}],"oa_status":"closed","license":null,"oa_locations":[{"url":"http://xplorestaging.ieee.org/ielx5/10932/34383/01641823.pdf?arnumber=1641823","host_type":"publisher"},{"url":"https://doi.org/10.1109/robot.2006.1641823","host_type":""}],"fields_of_study":["Robotic Path Planning Algorithms","Robotics and Sensor-Based Localization","Robotic Locomotion and Control"],"mesh_terms":[],"keywords":["Motion planning","Obstacle","Workspace","Random tree","Planner","Tree (set theory)","Computer science","Path (computing)","Robot","Face (sociological concept)","Artificial intelligence","Search tree","Mathematical optimization","Algorithm","Mathematics","Geography","Search algorithm","Computer network"],"sdg_mappings":[{"sdg_number":0,"sdg_label":"Sustainable cities and communities"}],"linked_datasets":[],"clinical_trials":[],"software_tools":[],"database_accessions":[],"source":"live","citation_network_status":"fetched"},"created_at":"2026-08-16T10:43:36.854732Z","pmid":null,"pmcid":null,"fwci":null,"citation_percentile":null,"influential_citations":0,"oa_status":null,"license":null,"views":0,"total_file_size_bytes":0,"version_count":0,"fair_f":null,"fair_a":null,"fair_i":null,"fair_r":null,"fair_zscore":null,"fair_rationale":null,"fair_model":null,"fair_agent_version":null,"fair_fulltext_source":null,"fair_has_llm":null,"fair_computed_at":null,"clinical_trials":[],"software_tools":[],"db_accessions":[],"linked_datasets":[],"topics":[]}