{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T16:57:28Z","timestamp":1778691448554,"version":"3.51.4"},"reference-count":35,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2023,3,24]],"date-time":"2023-03-24T00:00:00Z","timestamp":1679616000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,3,24]],"date-time":"2023-03-24T00:00:00Z","timestamp":1679616000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100001809","name":"NSFC","doi-asserted-by":"crossref","award":["61836010"],"award-info":[{"award-number":["61836010"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2023,4]]},"DOI":"10.1007\/s10846-023-01823-4","type":"journal-article","created":{"date-parts":[[2023,3,24]],"date-time":"2023-03-24T18:02:48Z","timestamp":1679680968000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":50,"title":["Dynamic RRT: Fast Feasible Path Planning in Randomly Distributed Obstacle Environments"],"prefix":"10.1007","volume":"107","author":[{"given":"Penglei","family":"Zhao","sequence":"first","affiliation":[]},{"given":"Yinghui","family":"Chang","sequence":"additional","affiliation":[]},{"given":"Weikang","family":"Wu","sequence":"additional","affiliation":[]},{"given":"Hongyin","family":"Luo","sequence":"additional","affiliation":[]},{"given":"Zhixin","family":"Zhou","sequence":"additional","affiliation":[]},{"given":"Yanping","family":"Qiao","sequence":"additional","affiliation":[]},{"given":"Ying","family":"Li","sequence":"additional","affiliation":[]},{"given":"Chenhui","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Zenan","family":"Huang","sequence":"additional","affiliation":[]},{"given":"Bijing","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Xiaojie","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Shan","family":"He","sequence":"additional","affiliation":[]},{"given":"Donghui","family":"Guo","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,3,24]]},"reference":[{"key":"1823_CR1","doi-asserted-by":"publisher","first-page":"423","DOI":"10.1109\/JPROC.2021.3063154","volume":"109","author":"S Ji","year":"2021","unstructured":"Ji, S., et al.: Learning-Based Automation of Robotic Assembly for Smart Manufacturing. Proc. of the IEEE. 109, 423\u2013440 (2021)","journal-title":"Proc. of the IEEE."},{"key":"1823_CR2","doi-asserted-by":"publisher","first-page":"78","DOI":"10.1109\/MRA.2018.2879747","volume":"26","author":"A Perzylo","year":"2019","unstructured":"Perzylo, A., et al.: SMErobotics Smart Robots for Flexible Manufacturing. IEEE ROBOT AUTOM MAG. 26, 78\u201390 (2019)","journal-title":"IEEE ROBOT AUTOM MAG."},{"key":"1823_CR3","doi-asserted-by":"publisher","first-page":"120","DOI":"10.1108\/01439911211201582","volume":"39","author":"M Hvilshoj","year":"2012","unstructured":"Hvilshoj, M., et al.: Autonomous industrial mobile manipulation (AIMM): past, present and future. Industrial Robot-the International Journal of Robotics Research and Application. 39, 120\u2013135 (2012)","journal-title":"Industrial Robot-the International Journal of Robotics Research and Application."},{"key":"1823_CR4","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1109\/MRA.2015.2486583","volume":"22","author":"MA Roa","year":"2015","unstructured":"Roa, M.A., Berenson, D., Huang, W.: Mobile Manipulation: Toward Smart Manufacturing. IEEE Robot. Autom. Mag. 22, 14\u201315 (2015)","journal-title":"IEEE Robot. Autom. Mag."},{"key":"1823_CR5","doi-asserted-by":"publisher","first-page":"1732","DOI":"10.1109\/TII.2017.2788079","volume":"14","author":"AGC Gonzalez","year":"2018","unstructured":"Gonzalez, A.G.C., et al.: Supervisory Control-Based Navigation Architecture: A New Framework for Autonomous Robots in Industry 4.0 Environments. IEEE Trans. Indust. Inf. 14, 1732\u20131743 (2018)","journal-title":"IEEE Trans. Indust. Inf."},{"key":"1823_CR6","doi-asserted-by":"publisher","first-page":"805","DOI":"10.1109\/TSMC.2014.2368995","volume":"45","author":"C Pan","year":"2015","unstructured":"Pan, C., et al.: A Novel Algorithm for Wafer Sojourn Time Analysis of Single-Arm Cluster Tools With Wafer Residency Time Constraints and Activity Time Variation. IEEE Transactions on Systems Man Cybernetics-Systems. 45, 805\u2013818 (2015)","journal-title":"IEEE Transactions on Systems Man Cybernetics-Systems."},{"key":"1823_CR7","doi-asserted-by":"publisher","first-page":"7469","DOI":"10.1109\/TII.2019.2957186","volume":"16","author":"Z Li","year":"2020","unstructured":"Li, Z., et al.: A Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulator. IEEE Trans. Industr. Inf. 16, 7469\u20137478 (2020)","journal-title":"IEEE Trans. Industr. Inf."},{"key":"1823_CR8","doi-asserted-by":"publisher","first-page":"441","DOI":"10.1109\/JPROC.2020.3032633","volume":"109","author":"D Baumann","year":"2021","unstructured":"Baumann, D., et al.: Wireless Control for Smart Manufacturing: Recent Approaches and Open Challenges. Proc. IEEE 109, 441\u2013467 (2021)","journal-title":"Proc. IEEE"},{"key":"1823_CR9","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1007\/s10846-021-01510-2","volume":"103","author":"S Li","year":"2021","unstructured":"Li, S., Han, K., Li, X., et al.: Hybrid Trajectory Replanning-Based Dynamic Obstacle Avoidance for Physical Human-Robot Interaction. J Intell Robot Syst 103, 41 (2021)","journal-title":"J Intell Robot Syst"},{"key":"1823_CR10","doi-asserted-by":"publisher","first-page":"100","DOI":"10.1109\/TSSC.1968.300136","volume":"4","author":"PE Hart","year":"1968","unstructured":"Hart, P.E., Nilsson, N.J., Raphael, B.: A Formal Basis for the Heuristic Determination of Minimum Cost Paths. IEEE Transactions on Systems Science and Cybernetics. 4, 100\u2013107 (1968)","journal-title":"IEEE Transactions on Systems Science and Cybernetics."},{"key":"1823_CR11","doi-asserted-by":"publisher","unstructured":"Karaman, S. and E. Frazzoli.: Incremental Sampling-based Algorithms for Optimal Motion Planning. in Robotics: Sci. Syst. 2010. (2010).\u00a0https:\/\/doi.org\/10.48550\/arXiv.1005.0416","DOI":"10.48550\/arXiv.1005.0416"},{"key":"1823_CR12","doi-asserted-by":"publisher","first-page":"4298","DOI":"10.1109\/LRA.2019.2931199","volume":"4","author":"HTL Chiang","year":"2019","unstructured":"Chiang, H.T.L., et al.: RL-RRT: Kinodynamic Motion Planning via Learning Reachability Estimators From RL Policies. IEEE Robotics and Automation Letters. 4, 4298\u20134305 (2019)","journal-title":"IEEE Robotics and Automation Letters."},{"key":"1823_CR13","doi-asserted-by":"publisher","first-page":"1748","DOI":"10.1109\/TASE.2020.2976560","volume":"17","author":"JK Wang","year":"2020","unstructured":"Wang, J.K., et al.: Neural RRT*: Learning-Based Optimal Path Planning. IEEE Trans. Autom. Sci. Eng. 17, 1748\u20131758 (2020)","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"1823_CR14","doi-asserted-by":"publisher","first-page":"8718","DOI":"10.1109\/TIE.2018.2816000","volume":"65","author":"Y Li","year":"2018","unstructured":"Li, Y., et al.: Neural Network Approximation Based Near-Optimal Motion Planning With Kinodynamic Constraints Using RRT. IEEE Trans. Industr. Electron. 65, 8718\u20138729 (2018)","journal-title":"IEEE Trans. Industr. Electron."},{"key":"1823_CR15","unstructured":"Lavalle, S.M.: Rapidly-exploring random trees : A new tool for path planning.\u00a0Research Report.\u00a0https:\/\/www.researchgate.net\/publication\/2639200_Rapidly-Exploring_Random_Trees_A_New_Tool_for_Path_Planning. (1998)"},{"key":"1823_CR16","doi-asserted-by":"publisher","first-page":"566","DOI":"10.1109\/70.508439","volume":"12","author":"LE Kavraki","year":"1996","unstructured":"Kavraki, L.E., et al.: Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Trans. Robot. Autom. 12, 566\u2013580 (1996)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"1823_CR17","doi-asserted-by":"publisher","first-page":"2063","DOI":"10.1109\/TASE.2020.2987397","volume":"17","author":"JK Wang","year":"2020","unstructured":"Wang, J.K., Meng, M.Q.H., Khatib, O.: EB-RRT: Optimal Motion Planning for Mobile Robots. IEEE Trans. Autom. Sci. Eng. 17, 2063\u20132073 (2020)","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"1823_CR18","doi-asserted-by":"publisher","unstructured":"Kusuma, M., Riyanto, and C. Machbub.: Humanoid Robot Path Planning and Rerouting Using A-Star Search Algorithm. 2019 IEEE International Conference on Signals and Systems (Icsigsys). (2019).\u00a0https:\/\/doi.org\/10.1109\/ICSIGSYS.2019.8811093","DOI":"10.1109\/ICSIGSYS.2019.8811093"},{"key":"1823_CR19","doi-asserted-by":"publisher","first-page":"312","DOI":"10.1109\/LRA.2017.2745542","volume":"3","author":"B An","year":"2018","unstructured":"An, B., Kim, J., Park, F.C.: An Adaptive Stepsize RRT Planning Algorithm for Open-Chain Robots. IEEE Robotics and Automation Letters. 3, 312\u2013319 (2018)","journal-title":"IEEE Robotics and Automation Letters."},{"key":"1823_CR20","doi-asserted-by":"publisher","first-page":"81","DOI":"10.1007\/s10846-017-0641-3","volume":"90","author":"W Wang","year":"2018","unstructured":"Wang, W., Zuo, L., Xu, X.: A Learning-based Multi-RRT Approach for Robot Path Planning in Narrow Passages. J. Intell. Rob. Syst. 90, 81\u2013100 (2018)","journal-title":"J. Intell. Rob. Syst."},{"key":"1823_CR21","doi-asserted-by":"publisher","first-page":"1221","DOI":"10.1007\/s00170-007-0930-2","volume":"36","author":"I Aguinaga","year":"2008","unstructured":"Aguinaga, I., Borro, D., Matey, L.: Parallel RRT-based path planning for selective disassembly planning. Int. J. Adv. Manuf. Technol. 36, 1221\u20131233 (2008)","journal-title":"Int. J. Adv. Manuf. Technol."},{"key":"1823_CR22","doi-asserted-by":"crossref","unstructured":"Bruce, J. and M.M. Veloso.: Real-time randomized path planning for robot navigation. Robocup 2002: Robot Soccer World Cup Vi. 2752, 288\u2013295 (2003)","DOI":"10.1007\/978-3-540-45135-8_23"},{"key":"1823_CR23","unstructured":"Jr, J. and S.M. Lavalle.: RRT-Connect: An Efficient Approach to Single-Query Path Planning. in Proceedings of the 2000 IEEE International Conference on Robotics and Automation, ICRA 2000, April 24\u201328, 2000, San Francisco, CA, USA. (2000)."},{"key":"1823_CR24","doi-asserted-by":"publisher","first-page":"1080","DOI":"10.1109\/TIE.2014.2345351","volume":"62","author":"CB Moon","year":"2015","unstructured":"Moon, C.B., Chung, W.: Kinodynamic Planner Dual-Tree RRT (DT-RRT) for Two-Wheeled Mobile Robots Using the Rapidly Exploring Random Tree. IEEE Trans. Industr. Electron. 62, 1080\u20131090 (2015)","journal-title":"IEEE Trans. Industr. Electron."},{"key":"1823_CR25","doi-asserted-by":"publisher","first-page":"846","DOI":"10.1177\/0278364911406761","volume":"30","author":"S Karaman","year":"2011","unstructured":"Karaman, S., Frazzoli, E.: Sampling-based algorithms for optimal motion planning. Int. J. Robot. Res. 30, 846\u2013894 (2011)","journal-title":"Int. J. Robot. Res."},{"key":"1823_CR26","doi-asserted-by":"publisher","first-page":"2568","DOI":"10.1109\/TMECH.2018.2821767","volume":"23","author":"L Chen","year":"2018","unstructured":"Chen, L., et al.: A Fast and Efficient Double-Tree RRT*-Like Sampling-Based Planner Applying on Mobile Robotic Systems. IEEE-Asme Transactions on Mechatronics. 23, 2568\u20132578 (2018)","journal-title":"IEEE-Asme Transactions on Mechatronics."},{"key":"1823_CR27","doi-asserted-by":"crossref","unstructured":"Gammell, J.D., S.S. Srinivasa, and T.D. Barfoot.: Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic. 2014 IEEE\/Rsj International Conference on Intelligent Robots and Systems (Iros 2014). 2997\u20133004 (2014)","DOI":"10.1109\/IROS.2014.6942976"},{"key":"1823_CR28","doi-asserted-by":"publisher","first-page":"473","DOI":"10.1109\/TRO.2016.2539377","volume":"32","author":"O Salzman","year":"2016","unstructured":"Salzman, O., Halperin, D.: Asymptotically Near-Optimal RRT for Fast, High-Quality Motion Planning. IEEE Trans. Rob. 32, 473\u2013483 (2016)","journal-title":"IEEE Trans. Rob."},{"key":"1823_CR29","doi-asserted-by":"publisher","first-page":"7244","DOI":"10.1109\/TIE.2020.2998740","volume":"68","author":"J Qi","year":"2021","unstructured":"Qi, J., Yang, H., Sun, H.X.: MOD-RRT*: A Sampling-Based Algorithm for Robot Path Planning in Dynamic Environment. IEEE Trans. Industr. Electron. 68, 7244\u20137251 (2021)","journal-title":"IEEE Trans. Industr. Electron."},{"key":"1823_CR30","doi-asserted-by":"publisher","unstructured":"Gammell, J.D., S.S. Srinivasa, and T.D. Barfoot.: On Recursive Random Prolate Hyperspheroids. Eprint Arxiv, (2014).\u00a0https:\/\/doi.org\/10.48550\/arXiv.1403.7664","DOI":"10.48550\/arXiv.1403.7664"},{"key":"1823_CR31","first-page":"489","volume":"I","author":"HY Sun","year":"2002","unstructured":"Sun, H.Y., Farooq, M.: Note on the generation of random points uniformly distributed in hyper-ellipsoids. Proceedings of the Fifth International Conference on Information Fusion I, 489\u2013496 (2002)","journal-title":"Proceedings of the Fifth International Conference on Information Fusion"},{"key":"1823_CR32","doi-asserted-by":"publisher","unstructured":"Gammell, J.D. and T.D. Barfoot.: The Probability Density Function of a Transformation-based Hyperellipsoid Sampling Technique. Stat., (2014).\u00a0https:\/\/doi.org\/10.48550\/arXiv.1404.1347","DOI":"10.48550\/arXiv.1404.1347"},{"key":"1823_CR33","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s40295-014-0019-8","volume":"60","author":"AHJ De Ruiter","year":"2014","unstructured":"De Ruiter, A.H.J., Forbe, J.R.: On the Solution ofWahba\u2019s Problem on S O (n). Journal of the Astronautical Sciences. 60, 1\u201331 (2014)","journal-title":"Journal of the Astronautical Sciences."},{"key":"1823_CR34","doi-asserted-by":"publisher","unstructured":"Guo, G., et al.: Predicting Pareto Dominance in Multi-objective Optimization Using Pattern Recognition. in Second International Conference on Intelligent System Des. Eng. Appl. (2012).\u00a0https:\/\/doi.org\/10.1109\/ISdea.2012.589","DOI":"10.1109\/ISdea.2012.589"},{"issue":"37","key":"1823_CR35","first-page":"40","volume":"1","author":"Sanders and Robert","year":"1987","unstructured":"Sanders and Robert: The Pareto Principle: its Use and Abuse. J. Serv. Mark. 1(37), 40 (1987)","journal-title":"J. Serv. Mark."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01823-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-023-01823-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01823-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,5,4]],"date-time":"2023-05-04T11:19:47Z","timestamp":1683199187000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-023-01823-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,3,24]]},"references-count":35,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2023,4]]}},"alternative-id":["1823"],"URL":"https:\/\/doi.org\/10.1007\/s10846-023-01823-4","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,3,24]]},"assertion":[{"value":"18 June 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"31 January 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 March 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Not applicable.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval"}},{"value":"The authors have no relevant financial or non-financial interests to disclose.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}},{"value":"Not applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"Not applicable.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}}],"article-number":"48"}}