{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,7]],"date-time":"2026-07-07T15:21:20Z","timestamp":1783437680596,"version":"3.54.6"},"reference-count":42,"publisher":"IEEE","license":[{"start":{"date-parts":[[2015,5,1]],"date-time":"2015-05-01T00:00:00Z","timestamp":1430438400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2015,5,1]],"date-time":"2015-05-01T00:00:00Z","timestamp":1430438400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2015,5]]},"DOI":"10.1109\/icra.2015.7139620","type":"proceedings-article","created":{"date-parts":[[2015,7,6]],"date-time":"2015-07-06T21:20:30Z","timestamp":1436217630000},"page":"3067-3074","source":"Crossref","is-referenced-by-count":395,"title":["Batch Informed Trees (BIT*): Sampling-based optimal planning via the heuristically guided search of implicit random geometric graphs"],"prefix":"10.1109","author":[{"given":"Jonathan D.","family":"Gammell","sequence":"first","affiliation":[{"name":"Autonomous Space Robotics Lab at the University of Toronto, Ontario, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Siddhartha S.","family":"Srinivasa","sequence":"additional","affiliation":[{"name":"The Personal Robotics Lab at Carnegie Mellon University, Pittsburgh, Pennsylvania, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Timothy D.","family":"Barfoot","sequence":"additional","affiliation":[{"name":"Autonomous Space Robotics Lab at the University of Toronto, Ontario, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844730"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2205651"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2012.2200561"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914547786"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399557"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139773"},{"key":"ref37","first-page":"989","article-title":"The bin-covering technique for thresholding random geometric graph properties","author":"muthukrishnan","year":"2005","journal-title":"SODA"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1137\/0109045"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1023\/B:WINE.0000013081.09837.c0"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1093\/acprof:oso\/9780198506263.001.0001"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1177\/027836499601500602"},{"key":"ref40","first-page":"127","article-title":"Bi-directional search","volume":"6","author":"pohl","year":"1971","journal-title":"Machine Intell"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1999.769998"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1145\/174147.174150"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/70.88136"},{"key":"ref14","article-title":"Anytime dynamic A *: An anytime, replanning algorithm","author":"likhachev","year":"2005","journal-title":"ICAPS"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570414"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2007.11.009"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2003.12.001"},{"key":"ref18","first-page":"1652","article-title":"The focussed D* algorithm for real-time replanning","author":"stentz","year":"1995","journal-title":"IJCAI"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.838026"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942976"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1975.1100984"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2240176"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1090\/S0002-9904-1954-09848-8"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1145\/359156.359164"},{"key":"ref29","article-title":"Fast marching trees: a fast marching sampling-based method for optimal motion planning in many dimensions","author":"janson","year":"2013","journal-title":"ISRR"},{"key":"ref5","author":"bellman","year":"1957","journal-title":"Dynamic Programming"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1016\/0094-5765(94)00158-I"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1992.220112"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TSSC.1968.300136"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1991.131750"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1007\/BF01386390"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/70.508439"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1177\/027836402320556421"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067453"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139776"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1248805"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1145\/322003.322004"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911406761"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6095077"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282100"}],"event":{"name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","location":"Seattle, WA, USA","start":{"date-parts":[[2015,5,26]]},"end":{"date-parts":[[2015,5,30]]}},"container-title":["2015 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7128761\/7138973\/07139620.pdf?arnumber=7139620","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,1,2]],"date-time":"2023-01-02T19:14:42Z","timestamp":1672686882000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/7139620\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,5]]},"references-count":42,"URL":"https:\/\/doi.org\/10.1109\/icra.2015.7139620","relation":{},"subject":[],"published":{"date-parts":[[2015,5]]}}}