{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,3]],"date-time":"2026-07-03T15:16:43Z","timestamp":1783091803155,"version":"3.54.6"},"reference-count":29,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,12,1]],"date-time":"2026-12-01T00:00:00Z","timestamp":1796083200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,12,1]],"date-time":"2026-12-01T00:00:00Z","timestamp":1796083200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,12,1]],"date-time":"2026-12-01T00:00:00Z","timestamp":1796083200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,12,1]],"date-time":"2026-12-01T00:00:00Z","timestamp":1796083200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,12,1]],"date-time":"2026-12-01T00:00:00Z","timestamp":1796083200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,12,1]],"date-time":"2026-12-01T00:00:00Z","timestamp":1796083200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,12,1]],"date-time":"2026-12-01T00:00:00Z","timestamp":1796083200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/501100013805","name":"Shanxi Agricultural University","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100013805","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100013318","name":"Shanxi Provincial Science and Technology Department","doi-asserted-by":"publisher","award":["202102140601015"],"award-info":[{"award-number":["202102140601015"]}],"id":[{"id":"10.13039\/501100013318","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Expert Systems with Applications"],"published-print":{"date-parts":[[2026,12]]},"DOI":"10.1016\/j.eswa.2026.133041","type":"journal-article","created":{"date-parts":[[2026,5,29]],"date-time":"2026-05-29T15:20:01Z","timestamp":1780068001000},"page":"133041","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["MS-Bi-PRM: A dynamic-ready bidirectional probabilistic roadmap algorithm with multi-strategy sampling for high-efficiency robotic manipulator path planning"],"prefix":"10.1016","volume":"330","author":[{"given":"Jie","family":"Wang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuhao","family":"Hao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zheyu","family":"Tian","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-8798-5716","authenticated-orcid":false,"given":"Guozhu","family":"Song","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"key":"10.1016\/j.eswa.2026.133041_bib0001","doi-asserted-by":"crossref","DOI":"10.1016\/j.cor.2025.107382","article-title":"A Q-learning-based variable greedy algorithm to minimize the sum of total earliness and tardiness in a no-wait flowshop scheduling problem","volume":"188","author":"Abreu","year":"2026","journal-title":"Computers & Operations Research"},{"issue":"12","key":"10.1016\/j.eswa.2026.133041_bib0002","doi-asserted-by":"crossref","first-page":"545","DOI":"10.3390\/computers14120545","article-title":"Time and memory trade-offs in shortest-path algorithms across graph topologies: A*, Bellman\u2013Ford, Dijkstra, AI-augmented A* and A neural baseline","volume":"14","author":"Aldhafferi","year":"2025","journal-title":"Computers"},{"issue":"19","key":"10.1016\/j.eswa.2026.133041_bib0003","doi-asserted-by":"crossref","first-page":"3804","DOI":"10.3390\/electronics14193804","article-title":"Advanced probabilistic roadmap path planning with adaptive sampling and smoothing","volume":"14","author":"Ambro\u017ckiewicz","year":"2025","journal-title":"Electronics"},{"key":"10.1016\/j.eswa.2026.133041_bib0004","doi-asserted-by":"crossref","DOI":"10.1016\/j.fusengdes.2024.114334","article-title":"An obstacle avoidance path planning algorithm to simulate hyper redundant manipulators for tokamaks maintenance","volume":"202","author":"Buonocore","year":"2024","journal-title":"Fusion Engineering and Design"},{"key":"10.1016\/j.eswa.2026.133041_bib0005","doi-asserted-by":"crossref","DOI":"10.1016\/j.eswa.2025.130615","article-title":"Integrated task assignment and path planning for collision-minimizing multiple automated guided vehicles scheduling","volume":"302","author":"Chen","year":"2026","journal-title":"Expert Systems With Applications"},{"key":"10.1016\/j.eswa.2026.133041_bib0006","series-title":"Adaptive path planning of robotic arm integrating RRT* and artificial potential field","author":"Chen","year":"2025"},{"issue":"2","key":"10.1016\/j.eswa.2026.133041_bib0007","doi-asserted-by":"crossref","first-page":"372","DOI":"10.28991\/ESJ-2024-08-02-01","article-title":"SY-MIS project: Biomedical design of endo-robotic and laparoscopic training system for surgery on the earth and space","volume":"8","author":"Cornejo","year":"2024","journal-title":"Emerging Science Journal"},{"key":"10.1016\/j.eswa.2026.133041_bib0008","doi-asserted-by":"crossref","DOI":"10.1016\/j.eswa.2024.123571","article-title":"DBVS-APF-RRT*: A global path planning algorithm with ultra-high speed generation of initial paths and high optimal path quality","volume":"249","author":"Feng","year":"2024","journal-title":"Expert Systems With Applications"},{"key":"10.1016\/j.eswa.2026.133041_bib0009","doi-asserted-by":"crossref","DOI":"10.1016\/j.eswa.2026.131904","article-title":"Kinematically feasible path planning and robust predefined performance formation control for MAGVs under mixed uncertainties","volume":"317","author":"Gao","year":"2026","journal-title":"Expert Systems With Applications"},{"issue":"10","key":"10.1016\/j.eswa.2026.133041_bib0010","doi-asserted-by":"crossref","first-page":"12324","DOI":"10.1007\/s10489-022-04137-4","article-title":"ERCP: Speedup path planning through clustering and presearching","volume":"53","author":"He","year":"2023","journal-title":"Applied Intelligence"},{"key":"10.1016\/j.eswa.2026.133041_bib0011","article-title":"A motion planning method for winter Jujube harvesting robotic arm based on optimized informed-RRT* algorithm","volume":"10100732","author":"Huang","year":"2025","journal-title":"Smart Agricultural Technology"},{"issue":"2","key":"10.1016\/j.eswa.2026.133041_bib0012","doi-asserted-by":"crossref","first-page":"2862","DOI":"10.1109\/TTE.2022.3151852","article-title":"Sine resistance network based motion planning approach for autonomous electric vehicles in dynamic environments","volume":"8","author":"Huang","year":"2022","journal-title":"IEEE Transactions on Transportation Electrification"},{"issue":"3","key":"10.1016\/j.eswa.2026.133041_bib0013","doi-asserted-by":"crossref","first-page":"609","DOI":"10.1007\/s11370-024-00527-4","article-title":"Robot path planning in narrow passages based on improved PRM method","volume":"17","author":"Huang","year":"2024","journal-title":"Intelligent Service Robotics"},{"key":"10.1016\/j.eswa.2026.133041_bib0014","doi-asserted-by":"crossref","first-page":"441","DOI":"10.1007\/s40747-025-02081-7","article-title":"Motion planning for hyper-redundant manipulator systems: Combining path following and improved APF-RRT* path finding","volume":"11","author":"Ji","year":"2025","journal-title":"Complex & Intelligent Systems"},{"issue":"10","key":"10.1016\/j.eswa.2026.133041_bib0015","doi-asserted-by":"crossref","first-page":"952","DOI":"10.3390\/machines13100952","article-title":"Robot path planning based on improved PRM for wing-box internal assembly","volume":"13","author":"Jiang","year":"2025","journal-title":"Machines"},{"key":"10.1016\/j.eswa.2026.133041_bib0016","series-title":"Technical Report","article-title":"Rapidly-exploring random trees: A new tool for path planning","author":"LaValle","year":"1998"},{"issue":"6","key":"10.1016\/j.eswa.2026.133041_bib0017","doi-asserted-by":"crossref","first-page":"3031","DOI":"10.3390\/s23063031","article-title":"Mass-manufacturable 3D magnetic force sensor for robotic grasping and slip detection","volume":"23","author":"Le Signor","year":"2023","journal-title":"Sensors"},{"issue":"7","key":"10.1016\/j.eswa.2026.133041_bib0018","doi-asserted-by":"crossref","first-page":"3512","DOI":"10.3390\/s23073512","article-title":"PRM-D* method for mobile robot path planning","volume":"23","author":"Liu","year":"2023","journal-title":"Sensors"},{"key":"10.1016\/j.eswa.2026.133041_bib0019","doi-asserted-by":"crossref","DOI":"10.1155\/2022\/1632698","article-title":"Path planning of mobile robot based on improved PRM based on cubic spline","volume":"2022","author":"Ma","year":"2022","journal-title":"Wireless Communications and Mobile Computing"},{"issue":"2","key":"10.1016\/j.eswa.2026.133041_bib0020","doi-asserted-by":"crossref","first-page":"296","DOI":"10.1177\/09544100251363652","article-title":"Research on obstacle avoidance path planning for multiple UAVs in complex terrain based on an improved ant colony algorithm","volume":"240","author":"Nan","year":"2026","journal-title":"Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering"},{"key":"10.1016\/j.eswa.2026.133041_bib0021","article-title":"Enhancing path planning for autonomous robots in large, obstacle-crowded environments: A practical improvement to the PRM algorithm","volume":"9569965","author":"Shimon","year":"2025","journal-title":"Journal of Robotics"},{"issue":"9","key":"10.1016\/j.eswa.2026.133041_bib0022","doi-asserted-by":"crossref","first-page":"4999","DOI":"10.3390\/app15094999","article-title":"Algorithmic modified denavit\u2013hartenberg modeling for robotic manipulators using line geometry","volume":"15","author":"Sung","year":"2025","journal-title":"Applied Sciences"},{"issue":"19","key":"10.1016\/j.eswa.2026.133041_bib0023","doi-asserted-by":"crossref","first-page":"7267","DOI":"10.3390\/en15197267","article-title":"Path planning for UAV based on improved PRM","volume":"15","author":"Weimin","year":"2022","journal-title":"Energies"},{"key":"10.1016\/j.eswa.2026.133041_bib0024","article-title":"Path planning of a 6-DOF measuring robot with a direction guidance RRT method","volume":"238","author":"Yan","year":"2024","journal-title":"Expert Systems With Applications"},{"key":"10.1016\/j.eswa.2026.133041_bib0025","doi-asserted-by":"crossref","DOI":"10.1016\/j.rineng.2025.108924","article-title":"A dynamically hybrid path planning and obstacle avoidance algorithm for mobile robots based on improved A* and dynamic windows approach","volume":"29","author":"Yao","year":"2026","journal-title":"Results in Engineering"},{"key":"10.1016\/j.eswa.2026.133041_bib0026","doi-asserted-by":"crossref","first-page":"3086","DOI":"10.1109\/TASE.2024.3389020","article-title":"Adp-based prescribed time control for nonlinear time-varying delay systems with uncertain parameters","volume":"22","author":"Zhang","year":"2025","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"key":"10.1016\/j.eswa.2026.133041_bib0027","doi-asserted-by":"crossref","DOI":"10.1016\/j.anucene.2024.110776","article-title":"Path planning of PRM based on artificial potential field in radiation environments","volume":"208","author":"Zheng","year":"2024","journal-title":"Annals of Nuclear Energy"},{"issue":"1","key":"10.1016\/j.eswa.2026.133041_bib0028","doi-asserted-by":"crossref","first-page":"225","DOI":"10.3390\/electronics13010225","article-title":"Grid-based non-uniform probabilistic roadmap-based AGV path planning in narrow passages and complex environments","volume":"13","author":"Zhou","year":"2024","journal-title":"Electronics"},{"key":"10.1016\/j.eswa.2026.133041_bib0029","doi-asserted-by":"crossref","DOI":"10.1016\/j.asoc.2025.114150","article-title":"A hyper-heuristic algorithm based on genetic and greedy strategy for university course scheduling problem","volume":"186","author":"Zhu","year":"2026","journal-title":"Applied Soft Computing"}],"container-title":["Expert Systems with Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0957417426019524?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0957417426019524?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,7,3]],"date-time":"2026-07-03T14:22:41Z","timestamp":1783088561000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0957417426019524"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,12]]},"references-count":29,"alternative-id":["S0957417426019524"],"URL":"https:\/\/doi.org\/10.1016\/j.eswa.2026.133041","relation":{},"ISSN":["0957-4174"],"issn-type":[{"value":"0957-4174","type":"print"}],"subject":[],"published":{"date-parts":[[2026,12]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"MS-Bi-PRM: A dynamic-ready bidirectional probabilistic roadmap algorithm with multi-strategy sampling for high-efficiency robotic manipulator path planning","name":"articletitle","label":"Article Title"},{"value":"Expert Systems with Applications","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.eswa.2026.133041","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"133041"}}