{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,10]],"date-time":"2026-07-10T16:19:11Z","timestamp":1783700351779,"version":"3.55.0"},"reference-count":31,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2021,5,14]],"date-time":"2021-05-14T00:00:00Z","timestamp":1620950400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2022,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In this paper, we present a novel sampling-based motion planning method in various complex environments, especially with narrow passages. We use online the results of the planner in the ADD-RRT framework to identify the types of the local configuration space based on the principal component analysis (PCA). The identification result is then used to accelerate the expansion similar to RRV around obstacles and through narrow passages. We also propose a modified bridge test to identify the entrance of a narrow passage and boost samples inside it. We have compared our method with known motion planners in several scenarios through simulations. Our method shows the best performance across all the tested planners in the tested scenarios.<\/jats:p>","DOI":"10.1017\/s0263574721000436","type":"journal-article","created":{"date-parts":[[2021,5,14]],"date-time":"2021-05-14T10:00:02Z","timestamp":1620986402000},"page":"136-153","source":"Crossref","is-referenced-by-count":8,"title":["ADD-RRV for motion planning in complex environments"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0814-1687","authenticated-orcid":false,"given":"Peng","family":"Cai","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaokui","family":"Yue","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hongwen","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2021,5,14]]},"reference":[{"key":"S0263574721000436_ref26","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-017-0641-3"},{"key":"S0263574721000436_ref8","doi-asserted-by":"publisher","DOI":"10.1177\/1729881419839575"},{"key":"S0263574721000436_ref14","unstructured":"[14] Boor, V. , Overmars, M. H. and Van Der Stappen, A. F. , \u201cThe Gaussian Sampling Strategy for Probabilistic Roadmap Planners,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (1999) pp. 1018\u20131023."},{"key":"S0263574721000436_ref2","doi-asserted-by":"crossref","unstructured":"[2] Li, D. , Li, Q. , Cheng, N. and Song, J. , \u201cExtended RRT-based Path Planning for Flying Robots in Complex 3D Environments with Narrow Passages,\u201d IEEE International Conference on Automation Science and Engineering (CASE) (2012) pp. 1173\u20131178.","DOI":"10.1109\/CoASE.2012.6386513"},{"key":"S0263574721000436_ref28","doi-asserted-by":"crossref","unstructured":"[28] Von\u00e1sek, V. and P\u011bni\u011bka, R. , \u201cComputation of Approximate Solutions for Guided Sampling-Based Motion Planning of 3D Objects,\u201d 12th International Workshop on Robot Motion and Control (RoMoCo) (2019) pp. 231\u2013238.","DOI":"10.1109\/RoMoCo.2019.8787344"},{"key":"S0263574721000436_ref5","doi-asserted-by":"crossref","unstructured":"[5] Von\u00e1sek, V. and Kozl\u00edkov\u00e1, B. , \u201cTunnel Detection in Protein Structures Using Sampling-based Motion Planning,\u201d 11th International Workshop on Robot Motion and Control (RoMoCo) (2017) pp. 185\u2013192.","DOI":"10.1109\/RoMoCo.2017.8003911"},{"key":"S0263574721000436_ref25","doi-asserted-by":"crossref","unstructured":"[25] Sz\u00e1deczky-Kardoss, E. and Kiss, B. , \u201cExtension of the Rapidly Exploring Random Tree Algorithm with Key Configurations for Nonholonomic Motion Planning,\u201d IEEE International Conference on Mechatronics (2006) pp. 363\u2013368.","DOI":"10.1109\/ICMECH.2006.252554"},{"key":"S0263574721000436_ref12","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906067174"},{"key":"S0263574721000436_ref18","unstructured":"[18] Zhang, L. and Manocha, D. , \u201cAn Efficient Retraction-based RRT Planner,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2008) pp. 3743\u20133750."},{"key":"S0263574721000436_ref7","unstructured":"[7] Khatib, O. , \u201cReal-Time Obstacle Avoidance for Manipulators and Mobile Robots,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (1985) pp. 500\u2013505."},{"key":"S0263574721000436_ref19","unstructured":"[19] Wilmarth, S. A. , Amato, N. M. and Stiller, P. F. , \u201cMAPRM: A Probabilistic Roadmap Planner with Sampling on the Medial Axis of the Free Space,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (1999) pp. 1024\u20131031."},{"key":"S0263574721000436_ref22","doi-asserted-by":"crossref","unstructured":"[22] Rodriguez, S. , Tang, X. , Lien, J.-M. and Amato, N. M. , \u201cAn Obstacle-based Rapidly-Exploring Random Tree,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2006) pp. 895\u2013900.","DOI":"10.1109\/ROBOT.2006.1641823"},{"key":"S0263574721000436_ref24","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919890408"},{"key":"S0263574721000436_ref4","doi-asserted-by":"crossref","unstructured":"[4] McEvoy, M. , Komendera, E. and Correll, N. , \u201cAssembly Path Planning for Stable Robotic Construction,\u201d IEEE International Conference on Technologies for Practical Robot Applications (TePRA) (2014) pp. 1\u20136.","DOI":"10.1109\/TePRA.2014.6869152"},{"key":"S0263574721000436_ref11","unstructured":"[11] LaValle, S. M. , \u201cRapidly-exploring random trees: A new tool for path planning,\u201d TR 98-11 (Computer Science Department, Iowa State University, 1998)."},{"key":"S0263574721000436_ref3","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719001176"},{"key":"S0263574721000436_ref16","unstructured":"[16] Yershova, A. , Jaillet, L. , Sim\u00e9on, T. and LaValle, S. M. , \u201cDynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2005) pp. 3856\u20133861."},{"key":"S0263574721000436_ref15","unstructured":"[15] Hsu, D. , Jiang, T. , Reif, J. and Sun, Z. , \u201cThe Bridge Test for Sampling Narrow Passages with Probabilistic Roadmap Planners,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2003) pp. 4420\u20134426."},{"key":"S0263574721000436_ref20","doi-asserted-by":"crossref","unstructured":"[20] Denny, J. , Greco, E. , Thomas, S. and Amato, N. M. , \u201cMARRT: Medial Axis Biased Rapidly-Exploring Random Trees,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2014) pp. 90\u201397.","DOI":"10.1109\/ICRA.2014.6906594"},{"key":"S0263574721000436_ref21","unstructured":"[21] Lee, J. , Kwon, O. , L. Zhang and S.-e. Yoon, \u201cSR-RRT: Selective Retraction-based RRT Planner,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (IEEE, 2012) pp. 2543\u20132550."},{"key":"S0263574721000436_ref17","doi-asserted-by":"crossref","unstructured":"[17] Jaillet, L. , Yershova, A. , La Valle, S. M. and Sim\u00e9on, T. , \u201cAdaptive Tuning of the Sampling Domain for Dynamic-Domain RRTs,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems (2005) pp. 2851\u20132856.","DOI":"10.1109\/IROS.2005.1545607"},{"key":"S0263574721000436_ref6","first-page":"100","article-title":"A formal basis for the heuristic determination of minimum cost paths","volume":"4","author":"Hart","year":"1968","journal-title":"Cybern."},{"key":"S0263574721000436_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/70.508439"},{"key":"S0263574721000436_ref27","doi-asserted-by":"crossref","unstructured":"[27] Von\u00e1sek, V. , \u201cMotion Planning of 3D Objects Using Rapidly Exploring Random Tree Guided by Approximate Solutions,\u201d IEEE 23rd International Conference on Emerging Technologies and Factory Automation (ETFA) (2018) pp. 713\u2013720.","DOI":"10.1109\/ETFA.2018.8502446"},{"key":"S0263574721000436_ref9","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"key":"S0263574721000436_ref31","doi-asserted-by":"publisher","DOI":"10.1080\/10867651.1999.10487502"},{"key":"S0263574721000436_ref30","doi-asserted-by":"crossref","unstructured":"[30] Tahirovic, A. and Ferizbegovic, M. , \u201cRapidly-Exploring Random Vines (RRV) for Motion Planning in Configuration Spaces with Narrow Passages,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2018) pp. 7055\u20137062.","DOI":"10.1109\/ICRA.2018.8460186"},{"key":"S0263574721000436_ref23","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905060132"},{"key":"S0263574721000436_ref29","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911403335"},{"key":"S0263574721000436_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2604240"},{"key":"S0263574721000436_ref13","unstructured":"[13] Hsu, D. , Kavraki, L. E. , Latombe, J.-C. , Motwani, R. and Sorkin, S. , \u201cOn Finding Narrow Passages with Probabilistic Roadmap Planners,\u201d Robotics: the Algorithmic Perspective: 1998 Workshop on the Algorithmic Foundations of Robotics (1998) pp. 141\u2013154."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574721000436","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,2,7]],"date-time":"2023-02-07T11:52:28Z","timestamp":1675770748000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574721000436\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,14]]},"references-count":31,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2022,1]]}},"alternative-id":["S0263574721000436"],"URL":"https:\/\/doi.org\/10.1017\/s0263574721000436","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,5,14]]}}}