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This approach first uses the concept of line-of-sight (LoS) to find waypoints from the start pose to the end node. It then plans smooth, collision-free motion for a robot to move between waypoints using a 3D-F<jats:sup>2<\/jats:sup>algorithm. Extensive simulations and experiments are conducted in 2D and 3D scenarios to verify the approach.<\/jats:p>","DOI":"10.1017\/s0263574716000047","type":"journal-article","created":{"date-parts":[[2016,2,11]],"date-time":"2016-02-11T07:40:34Z","timestamp":1455176434000},"page":"1280-1309","source":"Crossref","is-referenced-by-count":24,"title":["An approach for real-time motion planning of an inchworm robot in complex steel bridge environments"],"prefix":"10.1017","volume":"35","author":[{"given":"David","family":"Pagano","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1581-5582","authenticated-orcid":false,"given":"Dikai","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2016,2,11]]},"reference":[{"key":"S0263574716000047_ref30","doi-asserted-by":"crossref","unstructured":"D. Pagano , D. Liu and K. 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