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		<doi>10.1109/ACCESS.2019.2908100</doi>
		<issn>2169-3536</issn>
		<citationkey>VérasMedeGuim:2019:SyLiRe</citationkey>
		<title>Systematic literature review of sampling process in rapidly-exploring random trees</title>
		<year>2019</year>
		<typeofwork>journal article</typeofwork>
		<secondarytype>PRE PI</secondarytype>
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		<author>Véras, Luiz Gustavo Diniz de Oliveira,</author>
		<author>Medeiros, Felipe L. L.,</author>
		<author>Guimarães, Lamartine N. F.,</author>
		<group>CAP-COMP-SESPG-INPE-MCTIC-GOV-BR</group>
		<affiliation>Instituto Nacional de Pesquisas Espaciais (INPE)</affiliation>
		<affiliation>Instituto de Estudos Avançados (IEAv)</affiliation>
		<affiliation>Instituto de Estudos Avançados (IEAv)</affiliation>
		<electronicmailaddress>gustavo_veras@ifsp.edu.br</electronicmailaddress>
		<journal>IEEE Access</journal>
		<volume>7</volume>
		<pages>50933-50953</pages>
		<transferableflag>1</transferableflag>
		<contenttype>External Contribution</contenttype>
		<versiontype>publisher</versiontype>
		<keywords>Non-uniform sampling, informed sampling, path planning, RRT, systematic literature review.</keywords>
		<abstract>Path planning is one of the most important process on applications such as navigating autonomous vehicles, computer graphics, game development, robotics, and protein folding. It ensures that a path is planned between an initial and final position on the collision-free region of a search space if one exists. One of the most wide algorithms used for this purpose is the rapidly-exploring random tree (RRT), in which each node of a tree data structure is generated from a search space by a random sampling process, which originally follows a uniform spatial distribution. However, some authors claim that the addition of a non-uniform/ informed approach into the sampling process of the RRT could accelerate the planning time of the algorithm. Actually, many works on literature propose different strategies to include non-uniform/ informed behavior on RRT-based algorithms. However, the large number of studies on path planning subject impose difficulties on the identification of new solutions on a review process. The aim of this paper is to structure a review process to deal with the massive volume of works on this subject, by presenting the planning, development, and results of a systematic literature review (SLR), to investigate non-uniform/ informed sampling solutions applied to RRT-based algorithms on path planning literature. A review protocol with two scientific questions was developed to guide the investigation. As a result, 1136 studies were selected in the path planning literature, of which 53 were identified as claiming to contain a solution with non-uniform/ informed sampling on RRT-based algorithms. As a specific work is considered a scientific contribution only when it has not yet been explored in scientific circles, the results of the SLR can be used as a tool to search for what has not yet been proposed, helping to identify opportunities to contribute with new sampling processes of RRT-based algorithms. To the best knowledge of the authors, this paper presents the first development of an SLR of a topic related to the RRT algorithm.</abstract>
		<area>COMP</area>
		<language>en</language>
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