{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,10]],"date-time":"2026-03-10T15:09:44Z","timestamp":1773155384321,"version":"3.50.1"},"reference-count":26,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2025,4,1]],"date-time":"2025-04-01T00:00:00Z","timestamp":1743465600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,4,1]],"date-time":"2025-04-01T00:00:00Z","timestamp":1743465600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,4,1]],"date-time":"2025-04-01T00:00:00Z","timestamp":1743465600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2025,4]]},"DOI":"10.1109\/lra.2025.3544519","type":"journal-article","created":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T18:51:36Z","timestamp":1740163896000},"page":"3811-3818","source":"Crossref","is-referenced-by-count":2,"title":["FRTree Planner: Robot Navigation in Cluttered and Unknown Environments With Tree of Free Regions"],"prefix":"10.1109","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6907-5594","authenticated-orcid":false,"given":"Yulin","family":"Li","sequence":"first","affiliation":[{"name":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-9103-827X","authenticated-orcid":false,"given":"Zhicheng","family":"Song","sequence":"additional","affiliation":[{"name":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-7193-2560","authenticated-orcid":false,"given":"Chunxin","family":"Zheng","sequence":"additional","affiliation":[{"name":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-0831-216X","authenticated-orcid":false,"given":"Zhihai","family":"Bi","sequence":"additional","affiliation":[{"name":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-1321-5217","authenticated-orcid":false,"given":"Kai","family":"Chen","sequence":"additional","affiliation":[{"name":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6524-5741","authenticated-orcid":false,"given":"Michael Yu","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Engineering, Great Bay University, Dongguan, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9405-8232","authenticated-orcid":false,"given":"Jun","family":"Ma","sequence":"additional","affiliation":[{"name":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2927938"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3100142"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3344034"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/MOST60774.2024.00035"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3486235"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911406761"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/icma.2012.6284384"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3098244"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915594679"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3160022"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3080235"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3058927"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3360809"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560773"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3152702"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2663526"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-022-01708-y"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3232271"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3429193"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2800109"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561460"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adf7843"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2014.X.007"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3068923"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967788"},{"key":"ref26","article-title":"Cardinal optimizer (COPT) user guide","author":"Ge","year":"2023"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/7083369\/10893718\/10897898.pdf?arnumber=10897898","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,13]],"date-time":"2025-03-13T05:50:26Z","timestamp":1741845026000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10897898\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,4]]},"references-count":26,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/lra.2025.3544519","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,4]]}}}