@Article{VérasMedeGuim:2019:SyLiRe,
               author = "V{\'e}ras, Luiz Gustavo Diniz de Oliveira and Medeiros, Felipe L. 
                         L. and Guimar{\~a}es, Lamartine N. F.",
          affiliation = "{Instituto Nacional de Pesquisas Espaciais (INPE)} and {Instituto 
                         de Estudos Avan{\c{c}}ados (IEAv)} and {Instituto de Estudos 
                         Avan{\c{c}}ados (IEAv)}",
                title = "Systematic literature review of sampling process in 
                         rapidly-exploring random trees",
              journal = "IEEE Access",
                 year = "2019",
               volume = "7",
                pages = "50933--50953",
             keywords = "Non-uniform sampling, informed sampling, path planning, RRT, 
                         systematic literature review.",
             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.",
                  doi = "10.1109/ACCESS.2019.2908100",
                  url = "http://dx.doi.org/10.1109/ACCESS.2019.2908100",
                 issn = "2169-3536",
             language = "en",
           targetfile = "08675925.pdf",
        urlaccessdate = "01 maio 2024"
}