Motion Planning

APT*: Asymptotically Optimal Motion Planning via Adaptively Prolated Elliptical R-Nearest Neighbors
IEEE Robotics and Automation Letters (RA-L)
Liding Zhang, Sicheng Wang, Kuanqi Cai, Zhenshan Bing, Fan Wu, Chaoqun Wang, Sami Haddadin, Alois Knoll
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Estimated Informed Anytime Search for Sampling-Based Planning via Adaptive Sampler
IEEE Transactions on Automation Science and Engineering
Liding Zhang, Kuanqi Cai, Yu Zhang, Zhenshan Bing, Chaoqun Wang, Fan Wu, Sami Haddadin, Alois Knoll
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CIT*: Context-Based Biased Batch-Sampling for Almost-Surely Asymptotically Optimal Motion Planning
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025
Liding Zhang, Yankun Wei, Kuanqi Cai, Zhenshan Bing, Yuan Meng, Fan Wu, Sami Haddadin, Alois Knoll
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Direction Informed Trees (DIT*): Optimal Path Planning Via Direction Filter and Direction Cost Heuristic
2025 IEEE International Conference on Robotics and Automation (ICRA).
Liding Zhang, Kejia Chen, Kuanqi Cai, Yu Zhang, Yixuan Dang, Yansong Wu, Zhenshan Bing, Fan Wu, Sami Haddadin, Alois Knoll
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