{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,24]],"date-time":"2026-03-24T10:32:15Z","timestamp":1774348335294,"version":"3.50.1"},"reference-count":29,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2026,2,26]],"date-time":"2026-02-26T00:00:00Z","timestamp":1772064000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"},{"start":{"date-parts":[[2026,3,24]],"date-time":"2026-03-24T00:00:00Z","timestamp":1774310400000},"content-version":"vor","delay-in-days":26,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U21A20481"],"award-info":[{"award-number":["U21A20481"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"DOI":"10.1007\/s10846-026-02353-5","type":"journal-article","created":{"date-parts":[[2026,2,26]],"date-time":"2026-02-26T14:54:24Z","timestamp":1772117664000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["An Efficient Sampling-Based Planner towards Optimal Path Planning in Complex Environments"],"prefix":"10.1007","volume":"112","author":[{"given":"Jiarui","family":"Liu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1256-1337","authenticated-orcid":false,"given":"Jinhai","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhenning","family":"Wu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2026,2,26]]},"reference":[{"key":"2353_CR1","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TIM.2021.3073712","volume":"70","author":"C Wu","year":"2021","unstructured":"Wu, C., Tao, B., Wu, H., Gong, Z., Yin, Z.: A uhf rfid-based dynamic object following method for a mobile robot using phase difference information. IEEE Trans. Instrum. Meas. 70, 1\u201311 (2021). https:\/\/doi.org\/10.1109\/TIM.2021.3073712","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"2353_CR2","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TIM.2023.3325856","volume":"72","author":"N Van Toan","year":"2023","unstructured":"Van Toan, N., Khoi, P.B., Yi, S.-Y.: A single 2-d lidar extrinsic calibration for autonomous mobile robots. IEEE Trans. Instrum. Meas. 72, 1\u20139 (2023). https:\/\/doi.org\/10.1109\/TIM.2023.3325856","journal-title":"IEEE Trans. Instrum. Meas."},{"issue":"10","key":"2353_CR3","doi-asserted-by":"publisher","first-page":"3391","DOI":"10.1109\/TIM.2011.2126890","volume":"60","author":"SJ Kim","year":"2011","unstructured":"Kim, S.J., Kim, B.K.: Accurate hybrid global self-localization algorithm for indoor mobile robots with two-dimensional isotropic ultrasonic receivers. IEEE Trans. Instrum. Meas. 60(10), 3391\u20133404 (2011). https:\/\/doi.org\/10.1109\/TIM.2011.2126890","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"2353_CR4","doi-asserted-by":"publisher","unstructured":"Dastgerdi, K.A., Singh, B., Athanasopoulos, N., Naeem, W., Lecallard, B.: Geometric path planning for high speed marine craft. IFAC-PapersOnLine 56(2), 5729\u20135734 (2023). https:\/\/doi.org\/10.1016\/j.ifacol.2023.10.525. 22nd IFAC World Congress","DOI":"10.1016\/j.ifacol.2023.10.525"},{"issue":"2","key":"2353_CR5","doi-asserted-by":"publisher","first-page":"406","DOI":"10.1109\/TITS.2015.2477355","volume":"17","author":"M Elbanhawi","year":"2016","unstructured":"Elbanhawi, M., Simic, M., Jazar, R.: Randomized bidirectional b-spline parameterization motion planning. IEEE Trans. Intell. Transp. Syst. 17(2), 406\u2013419 (2016). https:\/\/doi.org\/10.1109\/TITS.2015.2477355","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"8","key":"2353_CR6","doi-asserted-by":"publisher","first-page":"9069","DOI":"10.1109\/TITS.2024.3367769","volume":"25","author":"O Tutsoy","year":"2024","unstructured":"Tutsoy, O., Asadi, D., Ahmadi, K., Nabavi-Chashmi, S.Y., Iqbal, J.: Minimum distance and minimum time optimal path planning with bioinspired machine learning algorithms for faulty unmanned air vehicles. IEEE Trans. Intell. Transp. Syst. 25(8), 9069\u20139077 (2024). https:\/\/doi.org\/10.1109\/TITS.2024.3367769","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"1","key":"2353_CR7","doi-asserted-by":"publisher","first-page":"329","DOI":"10.1109\/TCYB.2021.3091680","volume":"53","author":"O Tutsoy","year":"2023","unstructured":"Tutsoy, O., Barkana, D.E., Balikci, K.: A novel exploration-exploitation-based adaptive law for intelligent model-free control approaches. IEEE Transactions on Cybernetics 53(1), 329\u2013337 (2023). https:\/\/doi.org\/10.1109\/TCYB.2021.3091680","journal-title":"IEEE Transactions on Cybernetics"},{"issue":"6","key":"2353_CR8","doi-asserted-by":"publisher","first-page":"9003","DOI":"10.1109\/TVT.2023.3348140","volume":"73","author":"Z Lin","year":"2024","unstructured":"Lin, Z., Wu, K., Shen, R., Yu, X., Huang, S.: An efficient and accurate a-star algorithm for autonomous vehicle path planning. IEEE Trans. Veh. Technol. 73(6), 9003\u20139008 (2024). https:\/\/doi.org\/10.1109\/TVT.2023.3348140","journal-title":"IEEE Trans. Veh. Technol."},{"key":"2353_CR9","doi-asserted-by":"publisher","unstructured":"Wang, C., Cheng, C., Yang, D., Pan, G., Zhang, F.: Path planning in localization uncertaining environment based on dijkstra method. Front. Neurorobot. 16 (2022). https:\/\/doi.org\/10.3389\/fnbot.2022.821991","DOI":"10.3389\/fnbot.2022.821991"},{"key":"2353_CR10","doi-asserted-by":"publisher","unstructured":"Zhang, R., Shi, l., Xia, W., Ma, L.: Improved genetic algorithms for mobile robot path planning. In: 2023 international conference on artificial intelligence innovation (ICAII), pp. 36\u201343 (2023). https:\/\/doi.org\/10.1109\/ICAII59460.2023.10497240","DOI":"10.1109\/ICAII59460.2023.10497240"},{"key":"2353_CR11","doi-asserted-by":"publisher","unstructured":"Miao, C., Chen, G., Yan, C., Wu, Y.: Path planning optimization of indoor mobile robot based on adaptive ant colony algorithm. Comput. Indu. Eng. 156 (2021). https:\/\/doi.org\/10.1016\/j.cie.2021.107230","DOI":"10.1016\/j.cie.2021.107230"},{"issue":"2","key":"2353_CR12","doi-asserted-by":"publisher","first-page":"1500","DOI":"10.1109\/LRA.2020.2969191","volume":"5","author":"L Schmid","year":"2020","unstructured":"Schmid, L., Pantic, M., Khanna, R., Ott, L., Siegwart, R., Nieto, J.: An efficient sampling-based method for online informative path planning in unknown environments. IEEE Roboti. Autom. Lett. 5(2), 1500\u20131507 (2020). https:\/\/doi.org\/10.1109\/LRA.2020.2969191","journal-title":"IEEE Roboti. Autom. Lett."},{"key":"2353_CR13","doi-asserted-by":"publisher","unstructured":"Orthey, A., Chamzas, C., Kavraki, L.E.: Sampling-based motion planning: A comparative review. Ann. Rev. Control Robot. Autonomous Syst. 7, 285\u2013310 (2024). https:\/\/doi.org\/10.1146\/annurev-control-061623-094742","DOI":"10.1146\/annurev-control-061623-094742"},{"key":"2353_CR14","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.robot.2015.02.007","volume":"68","author":"AH Qureshi","year":"2015","unstructured":"Qureshi, A.H., Ayaz, Y.: Intelligent bidirectional rapidly-exploring random trees for optimal motion planning in complex cluttered environments. Robot. Autonomous Syst. 68, 1\u201311 (2015). https:\/\/doi.org\/10.1016\/j.robot.2015.02.007","journal-title":"Robot. Autonomous Syst."},{"issue":"4","key":"2353_CR15","doi-asserted-by":"publisher","first-page":"847","DOI":"10.1007\/s11370-024-00541-6","volume":"17","author":"Y Lin","year":"2024","unstructured":"Lin, Y., Zhang, L.: An improved quick informed-rrt* algorithm based on hybrid bidirectional search and adaptive adjustment strategies. Intel. Serv. Robot. 17(4), 847\u2013870 (2024). https:\/\/doi.org\/10.1007\/s11370-024-00541-6","journal-title":"Intel. Serv. Robot."},{"key":"2353_CR16","doi-asserted-by":"publisher","unstructured":"Luo, S., Zhang, M., Zhuang, Y., Ma, C., Li, Q.: A survey of path planning of industrial robots based on rapidly exploring random trees. Front. Neurorobot. 17 - 2023 (2023). https:\/\/doi.org\/10.3389\/fnbot.2023.1268447","DOI":"10.3389\/fnbot.2023.1268447"},{"key":"2353_CR17","doi-asserted-by":"publisher","unstructured":"Tang, G., Liu, P., Hou, Z., Claramunt, C., Zhou, P.: Motion planning of uav for port inspection based on extended rrt* algorithm. J. Marine Sci. Eng. 11(4), (2023). https:\/\/doi.org\/10.3390\/jmse11040702","DOI":"10.3390\/jmse11040702"},{"issue":"5","key":"2353_CR18","doi-asserted-by":"publisher","first-page":"2376","DOI":"10.1109\/TMECH.2020.2973327","volume":"25","author":"Z Wang","year":"2020","unstructured":"Wang, Z., Li, Y., Zhang, H., Liu, C., Chen, Q.: Sampling-based optimal motion planning with smart exploration and exploitation. IEEE\/ASME Trans. Mechatron. 25(5), 2376\u20132386 (2020). https:\/\/doi.org\/10.1109\/TMECH.2020.2973327","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"2353_CR19","doi-asserted-by":"publisher","unstructured":"Gammell, J.D., Srinivasa, S.S., Barfoot, T.D.: Informed rrt*: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic. In: 2014 IEEE\/RSJ international conference on intelligent robots and systems, pp. 2997\u20133004 (2014). https:\/\/doi.org\/10.1109\/IROS.2014.6942976","DOI":"10.1109\/IROS.2014.6942976"},{"key":"2353_CR20","doi-asserted-by":"publisher","unstructured":"Nasir, J., Islam, F., Malik, U.A., Ayaz, Y., Hasan, O., Khan, M., Muhammad, M.: Rrt*-smart: A rapid convergence implementation of rrt*,. Intl. J. Adv. Robot. Syst. 10, 299 (2013). https:\/\/doi.org\/10.5772\/56718","DOI":"10.5772\/56718"},{"key":"2353_CR21","doi-asserted-by":"publisher","unstructured":"Jeong, I.-B., Lee, S.-J., Kim, J.-H.: Quick-rrt*: Triangular inequality-based implementation of rrt* with improved initial solution and convergence rate. Expert Syst. Appl. 123, 82\u201390 (2019). https:\/\/doi.org\/10.1016\/j.eswa.2019.01.032","DOI":"10.1016\/j.eswa.2019.01.032"},{"issue":"3","key":"2353_CR22","doi-asserted-by":"publisher","first-page":"993","DOI":"10.1007\/s12555-021-0440-2","volume":"21","author":"B Liao","year":"2023","unstructured":"Liao, B., Hua, Y., Wan, F., Zhu, S., Zong, Y., Qing, X.: Stack-rrt*: A random tree expansion algorithm for smooth path planning. Int. J. Control Autom. Syst. 21(3), 993\u20131004 (2023)","journal-title":"Int. J. Control Autom. Syst."},{"key":"2353_CR23","doi-asserted-by":"publisher","unstructured":"Wang, J., Li, B., Meng, M.Q.-H.: Kinematic constrained bi-directional rrt with efficient branch pruning for robot path planning. Expert Syst. Appl. 170, 114541 (2021). https:\/\/doi.org\/10.1016\/j.eswa.2020.114541","DOI":"10.1016\/j.eswa.2020.114541"},{"key":"2353_CR24","doi-asserted-by":"publisher","unstructured":"Huang, Y., Zhang, F.: Variable curvature path planning for robot-assisted flexible needle insertion based on improved bi-rrt algorithm. IEEE Trans. Instrum. Meas. 73, 1\u201314 (2024). https:\/\/doi.org\/10.1109\/TIM.2024.3373067","DOI":"10.1109\/TIM.2024.3373067"},{"key":"2353_CR25","doi-asserted-by":"publisher","unstructured":"Gao, J., Claveau, F., Pashkevich, A., and, P.C.: Real-time motion planning for an autonomous mobile robot with wheel-ground adhesion constraint. Adv. Robotics 37(10), 649\u2013666 (2023). https:\/\/doi.org\/10.1080\/01691864.2023.2186188","DOI":"10.1080\/01691864.2023.2186188"},{"key":"2353_CR26","doi-asserted-by":"publisher","unstructured":"Wu, Z., Meng, Z., Zhao, W., Wu, Z.: Fast-rrt: A rrt-based optimal path finding method. Appl. Sci. 11(24) (2021). https:\/\/doi.org\/10.3390\/app112411777","DOI":"10.3390\/app112411777"},{"key":"2353_CR27","doi-asserted-by":"publisher","DOI":"10.1016\/j.compeleceng.2024.109711","volume":"120","author":"K Mi","year":"2024","unstructured":"Mi, K., Fu, Y., Zhou, C., Ji, W., Fu, M., Liang, R.: Research on path planning of intelligent maintenance robotic arm for distribution lines under complex environment. Comput. Electr. Eng. 120, 109711 (2024). https:\/\/doi.org\/10.1016\/j.compeleceng.2024.109711","journal-title":"Comput. Electr. Eng."},{"key":"2353_CR28","doi-asserted-by":"publisher","unstructured":"Suarez, A., Caballero, A., Garofano, A., Sanchez-Cuevas, P.J., Heredia, G., Ollero, A.: Aerial manipulator with rolling base for inspection of pipe arrays. IEEE Access 8, 162516\u2013162532 (2020). https:\/\/doi.org\/10.1109\/ACCESS.2020.3021126","DOI":"10.1109\/ACCESS.2020.3021126"},{"key":"2353_CR29","doi-asserted-by":"publisher","unstructured":"Huang, H., Shang, Y., Liu, X., Liu, X., Qi, P.: An improved bi-rrt*-based path planning algorithm with adaptive search strategy assignment mechanism for ultra-low-altitude penetration of fixed-wing aircraft. Aerospace Sci. Technol. 152, 109363 (2024). https:\/\/doi.org\/10.1016\/j.ast.2024.109363","DOI":"10.1016\/j.ast.2024.109363"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-026-02353-5","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-026-02353-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-026-02353-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,24]],"date-time":"2026-03-24T07:33:19Z","timestamp":1774337599000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-026-02353-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,2,26]]},"references-count":29,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2026,6]]}},"alternative-id":["2353"],"URL":"https:\/\/doi.org\/10.1007\/s10846-026-02353-5","relation":{},"ISSN":["1573-0409"],"issn-type":[{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,2,26]]},"assertion":[{"value":"4 June 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 January 2026","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 February 2026","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no competing interests to declare that are relevant to the content of this article, and the article is approved by all authors for publication.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"33"}}