{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,5]],"date-time":"2026-06-05T14:14:54Z","timestamp":1780668894103,"version":"3.54.1"},"reference-count":60,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,5,17]],"date-time":"2026-05-17T00:00:00Z","timestamp":1778976000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Advanced Engineering Informatics"],"published-print":{"date-parts":[[2026,9]]},"DOI":"10.1016\/j.aei.2026.104809","type":"journal-article","created":{"date-parts":[[2026,5,20]],"date-time":"2026-05-20T08:47:54Z","timestamp":1779266874000},"page":"104809","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"PD","title":["GPP-BIM \u2014 Global path planning for robot navigation using building information models"],"prefix":"10.1016","volume":"74","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-3035-1678","authenticated-orcid":false,"given":"Jan","family":"St\u00fchrenberg","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-6150-1139","authenticated-orcid":false,"given":"Aditya","family":"Tandon","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7228-3503","authenticated-orcid":false,"given":"Kay","family":"Smarsly","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"4","key":"10.1016\/j.aei.2026.104809_b1","doi-asserted-by":"crossref","first-page":"2304","DOI":"10.3390\/app13042304","article-title":"Robots in inspection and monitoring of buildings and infrastructure: A systematic review","volume":"13","author":"Halder","year":"2023","journal-title":"Appl. Sci."},{"key":"10.1016\/j.aei.2026.104809_b2","doi-asserted-by":"crossref","unstructured":"A. Tandon, J. St\u00fchrenberg, K. Dragos, K. Smarsly, Autonomous navigation of quadruped robots for monitoring and inspection of civil infrastructure, in: A. Francis, E. Miresco, S. Melhado (Eds.), Advances in Information Technology in Civil and Building Engineering, vol. 629, Springer Nature Switzerland, ISBN: 978-3-031-87363-8 978-3-031-87364-5, 2025, pp. 347\u2013360, http:\/\/dx.doi.org\/10.1007\/978-3-031-87364-5_29, Series Title: Lecture Notes in Civil Engineering.","DOI":"10.1007\/978-3-031-87364-5_29"},{"issue":"9","key":"10.1016\/j.aei.2026.104809_b3","doi-asserted-by":"crossref","first-page":"136","DOI":"10.3390\/infrastructures8090136","article-title":"Mobile structural health monitoring based on legged robots","volume":"8","author":"Smarsly","year":"2023","journal-title":"Infrastructures"},{"issue":"23","key":"10.1016\/j.aei.2026.104809_b4","doi-asserted-by":"crossref","first-page":"7898","DOI":"10.3390\/s21237898","article-title":"Path planning for autonomous mobile robots: A review","volume":"21","author":"S\u00e1nchez-Ib\u00e1\u00f1ez","year":"2021","journal-title":"Sensors"},{"key":"10.1016\/j.aei.2026.104809_b5","doi-asserted-by":"crossref","DOI":"10.1016\/j.aei.2023.101959","article-title":"Live semantic data from building digital twins for robot navigation: Overview of data transfer methods","volume":"56","author":"Pauwels","year":"2023","journal-title":"Adv. Eng. Inform."},{"key":"10.1016\/j.aei.2026.104809_b6","doi-asserted-by":"crossref","DOI":"10.1016\/j.autcon.2020.103436","article-title":"Indoor navigation supported by the Industry Foundation Classes (IFC): A survey","volume":"121","author":"Liu","year":"2021","journal-title":"Autom. Constr."},{"issue":"1","key":"10.1016\/j.aei.2026.104809_b7","doi-asserted-by":"crossref","first-page":"269","DOI":"10.1007\/BF01386390","article-title":"A note on two problems in connexion with graphs","volume":"1","author":"Dijkstra","year":"1959","journal-title":"Numer. Math."},{"issue":"2","key":"10.1016\/j.aei.2026.104809_b8","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1109\/TSSC.1968.300136","article-title":"A formal basis for the heuristic determination of minimum cost paths","volume":"4","author":"Hart","year":"1968","journal-title":"IEEE Trans. Syst. Sci. Cybern."},{"key":"10.1016\/j.aei.2026.104809_b9","article-title":"Rapidly-exploring random trees: A new tool for path planning","author":"LaValle","year":"1998","journal-title":"Annu. Res. Rep."},{"key":"10.1016\/j.aei.2026.104809_b10","doi-asserted-by":"crossref","DOI":"10.1016\/j.eswa.2023.120254","article-title":"Path planning techniques for mobile robots: Review and prospect","volume":"227","author":"Liu","year":"2023","journal-title":"Expert Syst. Appl."},{"key":"10.1016\/j.aei.2026.104809_b11","series-title":"Building Information Modeling: Technology Foundations and Industry Practice","year":"2018"},{"key":"10.1016\/j.aei.2026.104809_b12","series-title":"Structural Health Monitoring 2017","first-page":"829","article-title":"BIM-based design of structural health monitoring systems","author":"Theiler","year":"2017"},{"key":"10.1016\/j.aei.2026.104809_b13","series-title":"Romansy 19 \u2013 Robot Design, Dynamics and Control","first-page":"375","article-title":"BIM based indoor navigation system of Hermes mobile robot","volume":"vol. 544","author":"Siemiatkowska","year":"2013"},{"issue":"12","key":"10.1016\/j.aei.2026.104809_b14","doi-asserted-by":"crossref","first-page":"2362","DOI":"10.1080\/13658816.2018.1510126","article-title":"An algorithm for on-the-fly K shortest paths finding in multi-storey buildings using a hierarchical topology model","volume":"32","author":"Ivanov","year":"2018","journal-title":"Int. J. Geogr. Inf. Sci."},{"key":"10.1016\/j.aei.2026.104809_b15","doi-asserted-by":"crossref","first-page":"24","DOI":"10.1016\/j.autcon.2015.09.010","article-title":"Algorithms for automated generation of navigation models from building information models to support indoor map-matching","volume":"61","author":"Taneja","year":"2016","journal-title":"Autom. Constr."},{"key":"10.1016\/j.aei.2026.104809_b16","doi-asserted-by":"crossref","DOI":"10.1016\/j.autcon.2019.103057","article-title":"Generating straight skeleton-based navigation networks with Industry Foundation Classes for indoor way-finding","volume":"112","author":"Fu","year":"2020","journal-title":"Autom. Constr."},{"issue":"8","key":"10.1016\/j.aei.2026.104809_b17","doi-asserted-by":"crossref","first-page":"985","DOI":"10.1080\/17538947.2021.1913522","article-title":"A unified 3D space-based navigation model for seamless navigation in indoor and outdoor","volume":"14","author":"Yan","year":"2021","journal-title":"Int. J. Digit. Earth"},{"key":"10.1016\/j.aei.2026.104809_b18","series-title":"2023 20th ACS\/IEEE International Conference on Computer Systems and Applications (AICCSA)","first-page":"1","article-title":"Graph-based indoor navigation system using BIM data and optimization algorithms","author":"Rachidi","year":"2023"},{"key":"10.1016\/j.aei.2026.104809_b19","doi-asserted-by":"crossref","DOI":"10.1016\/j.autcon.2025.106019","article-title":"Semantics-based connectivity graph for indoor pathfinding powered by IFC-Graph","volume":"171","author":"Zhu","year":"2025","journal-title":"Autom. Constr."},{"key":"10.1016\/j.aei.2026.104809_b20","first-page":"417","article-title":"BIM-based indoor path planning considering obstacles","volume":"IV-2\/W4","author":"Xu","year":"2017","journal-title":"ISPRS Ann. Photogramm. Remote. Sens. Spat. Inf. Sci."},{"key":"10.1016\/j.aei.2026.104809_b21","doi-asserted-by":"crossref","DOI":"10.1016\/j.autcon.2018.07.016","article-title":"Intelligent generation of indoor topology (i-GIT) for human indoor pathfinding based on IFC models and 3D GIS technology","volume":"94","author":"Lin","year":"2018","journal-title":"Autom. Constr."},{"issue":"2","key":"10.1016\/j.aei.2026.104809_b22","doi-asserted-by":"crossref","first-page":"213","DOI":"10.1080\/13658816.2017.1376066","article-title":"Spatial subdivision of complex indoor environments for 3D indoor navigation","volume":"32","author":"Diakit\u00e9","year":"2018","journal-title":"Int. J. Geogr. Inf. Sci."},{"key":"10.1016\/j.aei.2026.104809_b23","doi-asserted-by":"crossref","DOI":"10.1016\/j.autcon.2020.103120","article-title":"A BIM-based method to plan indoor paths","volume":"113","author":"Hamieh","year":"2020","journal-title":"Autom. Constr."},{"issue":"2","key":"10.1016\/j.aei.2026.104809_b24","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1016\/j.aei.2012.10.001","article-title":"The IFC-based path planning for 3D indoor spaces","volume":"27","author":"Lin","year":"2013","journal-title":"Adv. Eng. Inform."},{"key":"10.1016\/j.aei.2026.104809_b25","series-title":"2021 IEEE International Conference on Electrical Engineering and Mechatronics Technology (ICEEMT)","first-page":"574","article-title":"Research on the path planning of the construction robot based on BIM","author":"Zhu","year":"2021"},{"issue":"1","key":"10.1016\/j.aei.2026.104809_b26","doi-asserted-by":"crossref","first-page":"2","DOI":"10.3390\/robotics10010002","article-title":"BIM-integrated collaborative robotics for application in building construction and maintenance","volume":"10","author":"Follini","year":"2020","journal-title":"Robotics"},{"key":"10.1016\/j.aei.2026.104809_b27","first-page":"546","article-title":"Ontology-based approach to data exchanges for robot navigation on construction sites","volume":"26","author":"Karimi","year":"2021","journal-title":"J. Inf. Technol. Constr."},{"issue":"3\u20134","key":"10.1016\/j.aei.2026.104809_b28","doi-asserted-by":"crossref","first-page":"235","DOI":"10.1007\/s41693-023-00112-8","article-title":"Improving autonomous robotic navigation using IFC files","volume":"7","author":"Gopee","year":"2023","journal-title":"Constr. Robot."},{"key":"10.1016\/j.aei.2026.104809_b29","doi-asserted-by":"crossref","DOI":"10.1016\/j.autcon.2022.104263","article-title":"Global path planning based on BIM and physics engine for UGVs in indoor environments","volume":"139","author":"Chen","year":"2022","journal-title":"Autom. Constr."},{"key":"10.1016\/j.aei.2026.104809_b30","doi-asserted-by":"crossref","DOI":"10.1016\/j.autcon.2023.105160","article-title":"Improved coverage path planning for indoor robots based on BIM and robotic configurations","volume":"158","author":"Chen","year":"2024","journal-title":"Autom. Constr."},{"issue":"12","key":"10.1016\/j.aei.2026.104809_b31","doi-asserted-by":"crossref","first-page":"7459","DOI":"10.1109\/TII.2020.2974252","article-title":"Accurate and efficient indoor pathfinding based on building information modeling data","volume":"16","author":"Zhou","year":"2020","journal-title":"IEEE Trans. Ind. Inform."},{"key":"10.1016\/j.aei.2026.104809_b32","series-title":"Intelligent Systems for Crisis Management","first-page":"31","article-title":"A two-level path-finding strategy for indoor navigation","author":"Liu","year":"2013"},{"issue":"3\u20134","key":"10.1016\/j.aei.2026.104809_b33","article-title":"Building information modeling indoor path planning: A lightweight approach for complex BIM building","volume":"32","author":"Liu","year":"2021","journal-title":"Comput. Animat. Virtual Worlds"},{"key":"10.1016\/j.aei.2026.104809_b34","doi-asserted-by":"crossref","first-page":"19","DOI":"10.5194\/isprsarchives-XL-4-W5-19-2015","article-title":"Multi-level indoor path planning method","volume":"XL-4\/W5","author":"Xiong","year":"2015","journal-title":"Int. Arch. Photogramm. Remote. Sens. Spat. Inf. Sci."},{"key":"10.1016\/j.aei.2026.104809_b35","first-page":"487","article-title":"Automatic generation of routing graphs for indoor-outdoor transitional space to support seamless navigation","volume":"X-1\/W1-2023","author":"Wang","year":"2023","journal-title":"ISPRS Ann. Photogramm. Remote. Sens. Spat. Inf. Sci."},{"key":"10.1016\/j.aei.2026.104809_b36","article-title":"A voxel-based 3D indoor model to support 3D pedestrian evacuation simulations","volume":"98","author":"Xie","year":"2024","journal-title":"J. Build. Eng."},{"key":"10.1016\/j.aei.2026.104809_b37","doi-asserted-by":"crossref","unstructured":"C. Song, K. Wang, J.C.P. Cheng, BIM-aided scanning path planning for autonomous surveillance UAVs with LiDAR, in: Proceedings of the 37th International Symposium on Automation and Robotics in Construction, Kitakyushu, Japan, 2020, pp. 1195\u20131202, http:\/\/dx.doi.org\/10.22260\/ISARC2020\/0164.","DOI":"10.22260\/ISARC2020\/0164"},{"key":"10.1016\/j.aei.2026.104809_b38","doi-asserted-by":"crossref","DOI":"10.1016\/j.autcon.2022.104533","article-title":"BIM-supported scan and flight planning for fully autonomous LiDAR-carrying UAVs","volume":"142","author":"Song","year":"2022","journal-title":"Autom. Constr."},{"key":"10.1016\/j.aei.2026.104809_b39","article-title":"Weighted octree-based 3D indoor pathfinding for multiple locomotion types","volume":"112","author":"Zhao","year":"2022","journal-title":"Int. J. Appl. Earth Obs. Geoinf."},{"key":"10.1016\/j.aei.2026.104809_b40","doi-asserted-by":"crossref","DOI":"10.1016\/j.autcon.2023.104778","article-title":"IFC-graph for facilitating building information access and query","volume":"148","author":"Zhu","year":"2023","journal-title":"Autom. Constr."},{"issue":"5","key":"10.1016\/j.aei.2026.104809_b41","doi-asserted-by":"crossref","first-page":"2232","DOI":"10.3390\/app11052232","article-title":"An inspection of IFC models from practice","volume":"11","author":"Noardo","year":"2021","journal-title":"Appl. Sci."},{"key":"10.1016\/j.aei.2026.104809_b42","series-title":"IfcOpenShell: The open source IFC toolkit and geometry engine","author":"IfcOpenShell","year":"2025"},{"key":"10.1016\/j.aei.2026.104809_b43","series-title":"The shapely user manual","author":"Gillies","year":"2025"},{"key":"10.1016\/j.aei.2026.104809_b44","series-title":"NetworkX: Network analysis in Python","author":"NetworkX developers","year":"2024"},{"key":"10.1016\/j.aei.2026.104809_b45","series-title":"Multimap_server","author":"RobotnikAutomation","year":"2025"},{"key":"10.1016\/j.aei.2026.104809_b46","series-title":"2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","first-page":"2718","article-title":"The Marathon 2: A Navigation System","author":"Macenski","year":"2020"},{"key":"10.1016\/j.aei.2026.104809_b47","doi-asserted-by":"crossref","first-page":"533","DOI":"10.1613\/jair.2994","article-title":"Theta*: Any-Angle Path Planning on Grids","volume":"39","author":"Daniel","year":"2010","journal-title":"J. Artificial Intelligence Res."},{"key":"10.1016\/j.aei.2026.104809_b48","series-title":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","first-page":"995","article-title":"RRT-connect: An efficient approach to single-query path planning","volume":"vol. 2","author":"Kuffner","year":"2000"},{"key":"10.1016\/j.aei.2026.104809_b49","series-title":"Boost Graph Library","author":"Siek","year":"2001"},{"issue":"4","key":"10.1016\/j.aei.2026.104809_b50","doi-asserted-by":"crossref","first-page":"72","DOI":"10.1109\/MRA.2012.2205651","article-title":"The Open Motion Planning Library","volume":"19","author":"Sucan","year":"2012","journal-title":"IEEE Robot. Autom. Mag."},{"issue":"9","key":"10.1016\/j.aei.2026.104809_b51","doi-asserted-by":"crossref","first-page":"1425","DOI":"10.3390\/app8091425","article-title":"Solving the path planning problem in mobile robotics with the multi-objective evolutionary algorithm","volume":"8","author":"Xue","year":"2018","journal-title":"Appl. Sci."},{"issue":"1","key":"10.1016\/j.aei.2026.104809_b52","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/s00454-019-00060-7","article-title":"Unconstrained and curvature-constrained shortest-path distances and their approximation","volume":"62","author":"Arias-Castro","year":"2019","journal-title":"Discrete Comput. Geom."},{"key":"10.1016\/j.aei.2026.104809_b53","series-title":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA \u201904. 2004","first-page":"2386","article-title":"Clearance based path optimization for motion planning","author":"Geraerts","year":"2004"},{"issue":"9","key":"10.1016\/j.aei.2026.104809_b54","doi-asserted-by":"crossref","first-page":"3170","DOI":"10.3390\/s18093170","article-title":"Path smoothing techniques in robot navigation: State-of-the-art, current and future challenges","volume":"18","author":"Ravankar","year":"2018","journal-title":"Sensors"},{"key":"10.1016\/j.aei.2026.104809_b55","series-title":"DigitalHub","author":"RWTH-E3D","year":"2023"},{"key":"10.1016\/j.aei.2026.104809_b56","series-title":"KIT IFC examples","author":"Institute for Automation and Applied Informatics (IAI), Karlsruhe Institute of Technology (KIT)","year":"2021"},{"key":"10.1016\/j.aei.2026.104809_b57","unstructured":"K. Zheng, ROS Navigation Tuning Guide, in: A. Koubaa (Ed.), Robot Operating System (ROS), vol. 962, Springer International Publishing, ISBN: 978-3-030-75471-6 978-3-030-75472-3, 2021, pp. 197\u2013226, http:\/\/dx.doi.org\/10.1007\/978-3-030-75472-3_6, Series Title: Studies in Computational Intelligence."},{"key":"10.1016\/j.aei.2026.104809_b58","series-title":"Intel NUC Board\/Kit\/Mini PC NUC11TNi3 \/ NUC11TNi5 \/ NUC11TNv5 \/ NUC11TNi7 \/ NUC11TNv7 Technical Product Specification","author":"Intel","year":"2023"},{"issue":"3","key":"10.1016\/j.aei.2026.104809_b59","doi-asserted-by":"crossref","first-page":"308","DOI":"10.1002\/rob.20285","article-title":"Differentially constrained mobile robot motion planning in state lattices","volume":"26","author":"Pivtoraiko","year":"2009","journal-title":"J. Field Robot."},{"key":"10.1016\/j.aei.2026.104809_b60","doi-asserted-by":"crossref","DOI":"10.1016\/j.aei.2025.103477","article-title":"LIO-BIM \u2013 Coupling lidar inertial odometry with building information modeling for robot localization and mapping","volume":"66","author":"St\u00fchrenberg","year":"2025","journal-title":"Adv. Eng. Inform."}],"container-title":["Advanced Engineering Informatics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S147403462600501X?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S147403462600501X?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,6,5]],"date-time":"2026-06-05T13:35:11Z","timestamp":1780666511000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S147403462600501X"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,9]]},"references-count":60,"alternative-id":["S147403462600501X"],"URL":"https:\/\/doi.org\/10.1016\/j.aei.2026.104809","relation":{},"ISSN":["1474-0346"],"issn-type":[{"value":"1474-0346","type":"print"}],"subject":[],"published":{"date-parts":[[2026,9]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"GPP-BIM \u2014 Global path planning for robot navigation using building information models","name":"articletitle","label":"Article Title"},{"value":"Advanced Engineering Informatics","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.aei.2026.104809","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 The Authors. Published by Elsevier Ltd.","name":"copyright","label":"Copyright"}],"article-number":"104809"}}