Zhanwei Yang

InBi-RRT: Incremental Bidirectional Tree Based Real-Time Path Planning/Replanning in Unknown Non-Convex Environments

Real-time path planning in unknown non-convex environments is challenging, as obstacle updates can invalidate existing paths while narrow passages restrict feasible connectivity. This paper presents textbf{InBi-RRT}, an incremental bidirectional tree-based framework that grows a reverse tree from th…