📝 Selected Publications

📄 Full list (PDF)

Multi-Source Subset Optimization

1. Estimated Informed Anytime Search for Sampling-Based Planning via Adaptive Sampler
   Liding Zhang, Kuanqi Cai, Yu Zhang, Zhenshan Bing, Chaoqun Wang, Fan Wu, Sami Haddadin, Alois Knoll
   IEEE T-ASE 2025 [arXiv] [video] [doi]

2. Tree-Based Grafting Approach for Bidirectional Motion Planning with Local Subsets Optimization
   Liding Zhang, Yao Ling, Zhenshan Bing, Fan Wu, Sami Haddadin, Alois Knoll
   IEEE RA-L 2025 (also presented at IROS 2025) [arXiv] [video] [doi]

3. Multi-Sets Trees (MST*): Accelerated Asymptotically Optimal Motion Planning Optimization Informed by Multiple Domain Subsets
   Liding Zhang, Sicheng Wang, Kuanqi Cai, Zhenshan Bing, Alois Knoll
   IROS 2025 Accepted [video]

4. Motion Planning for Robotics: A Review for Sampling-based Planners
   Liding Zhang, Kuanqi Cai, Zewei Sun, Zhenshan Bing, Chaoqun Wang, Luis Figueredo, Sami Haddadin, Alois Knoll
   BIRoB 2025 [arXiv] [doi]

Information-Guided Motion Planning

1. Just-in-Time Informed Trees: Manipulability-Aware Asymptotically Optimized Motion Planning
   Kuanqi Cai*, Liding Zhang*, Xinwen Su, Kejia Chen, Chaoqun Wang, Sami Haddadin, Alois Knoll, Arash Ajoudani, Luis Figueredo
   IEEE/ASME T-Mech 2025 [video] [doi]

2. Genetic Informed Trees (GIT*): Path Planning via Reinforced Genetic Programming Heuristics
   Liding Zhang, Kuanqi Cai, Zhenshan Bing, Chaoqun Wang, Alois Knoll
   BIRoB 2025 [arXiv] [video] [doi]

3. Direction Informed Trees (DIT*): Optimal Path Planning via Direction Filter and Direction Cost Heuristic
   Liding Zhang, Kejia Chen, Kuanqi Cai, Yu Zhang, Yixuan Dang, Yansong Wu, Zhenshan Bing, Fan Wu, Sami Haddadin, Alois Knoll
   ICRA 2025 [arXiv] [video] [doi]

4. Elliptical K-Nearest Neighbors – Path Optimization via Coulomb’s Law and Invalid Vertices in C-space Obstacles
   Liding Zhang, Zhenshan Bing, Yu Zhang, Kuanqi Cai, Lingyun Chen, Fan Wu, Sami Haddadin, Alois Knoll
   IROS 2024 [arXiv] [video] [doi]

Adaptive and Batch-based Sampling

1. APT*: Asymptotically Optimal Motion Planning via Adaptively Prolated Elliptical R-Nearest Neighbors
   Liding Zhang, Sicheng Wang, Kuanqi Cai, Zhenshan Bing, Fan Wu, Chaoqun Wang, Sami Haddadin, Alois Knoll
   IEEE RA-L 2025 [arXiv] [video] [doi]

2. CIT*: Context-Based Biased Batch-Sampling for Almost-Surely Asymptotically Optimal Motion Planning
   Liding Zhang, Yankun Wei, Kuanqi Cai, Zhenshan Bing, Yuan Meng, Fan Wu, Sami Haddadin, Alois Knoll
   IROS 2025 Accepted [video]

3. Deep Fuzzy Optimization for Batch-Size and Nearest Neighbors in Optimal Robot Motion Planning
   Liding Zhang, Qiyang Zong, Yu Zhang, Zhenshan Bing, Alois Knoll
   IEEE CBS 2025 Accepted [arXiv] [video]

4. Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach in Informed Sampling-Based Path Planning
   Liding Zhang, Zhenshan Bing, Kejia Chen, Lingyun Chen, Kuanqi Cai, Yu Zhang, Fan Wu, Peter Krumbholz, Zhilin Yuan, Sami Haddadin, Alois Knoll
   IROS 2024 [arXiv] [video] [doi]