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The proposed method incorporates a hybrid A* algorithm to generate feasible trajectories when the primary planner fails and applies a soft constraints\u2010based smoothing technique to refine these trajectories, ensuring continuity, obstacle avoidance, and kinematic feasibility. Obstacle constraints are modeled using a dynamic Voronoi map to improve navigation through narrow passages. This approach enhances the consistency of trajectory planning, speeds up convergence, and meets real\u2010time computational requirements. In environments with around 30% or higher obstacle density, the ratio of free space before and after placing new obstacles, the RESILIENT TIMED ELASTIC BAND (RTEB) planner achieves approximately 20% reduction in traverse distance, traverse time, and control effort compared to the timed elastic band (TEB) planner and nonlinear model predictive control (NMPC) planner. These improvements demonstrate the RTEB planner's potential for application in field robotics, particularly in agricultural and industrial environments, where efficient and resilient navigation is crucial.<\/jats:p>","DOI":"10.1002\/rob.22602","type":"journal-article","created":{"date-parts":[[2025,6,9]],"date-time":"2025-06-09T06:54:35Z","timestamp":1749452075000},"page":"3902-3917","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Resilient Timed Elastic Band Planner for Collision\u2010Free Navigation in Unknown Environments"],"prefix":"10.1002","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3378-9813","authenticated-orcid":false,"given":"Geesara","family":"Kulathunga","sequence":"first","affiliation":[{"name":"Lincoln Centre for Autonomous Systems University of Lincoln Lincoln UK"}]},{"given":"Abdurrahman","family":"Yilmaz","sequence":"additional","affiliation":[{"name":"Lincoln Centre for 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