Senchun Chai

2 accepted papers

2026

An Efficient and Lightweight Multi-Goal Path Planning Based on Enhanced Sampling Planner

Runda Zhang, Runqi Chai, Senchun Chai, Yuanqing Xia

RA-L 2026

In this work, we propose a novel lightweight and efficient multi-goal path planning (MGPP) framework tailored for complex environments with obstacles. The framework adopts a hierarchical architecture consisting of two layers: a visiting order decision layer and an incremental sampling-based planning

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2025

Light Reflection-Guided RRT${*}$: Efficient Path Planning in Narrow Passages

Xiaotong Xun, Runda Zhang, Senchun Chai, Runqi Chai, Yuanqing Xia

RA-L 2025

In complex and constrained environments, robot path planning faces the dual challenges of efficiency and solution quality. This paper presents a Light Reflection Heuristic RRT<inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation=

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