SMART-3D: Three-Dimensional Self-Morphing Adaptive Replanning Tree
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866915504759767040 |
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| author | Agrawal, Priyanshu Gupta, Shalabh Shen, Zongyuan |
| author_facet | Agrawal, Priyanshu Gupta, Shalabh Shen, Zongyuan |
| contents | This paper presents SMART-3D, an extension of the SMART algorithm to 3D environments. SMART-3D is a tree-based adaptive replanning algorithm for dynamic environments with fast moving obstacles. SMART-3D morphs the underlying tree to find a new path in real-time whenever the current path is blocked by obstacles. SMART-3D removed the grid decomposition requirement of the SMART algorithm by replacing the concept of hot-spots with that of hot-nodes, thus making it computationally efficient and scalable to 3D environments. The hot-nodes are nodes which allow for efficient reconnections to morph the existing tree to find a new safe and reliable path. The performance of SMART-3D is evaluated by extensive simulations in 2D and 3D environments populated with randomly moving dynamic obstacles. The results show that SMART-3D achieves high success rates and low replanning times, thus highlighting its suitability for real-time onboard applications. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_16812 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | SMART-3D: Three-Dimensional Self-Morphing Adaptive Replanning Tree Agrawal, Priyanshu Gupta, Shalabh Shen, Zongyuan Robotics Artificial Intelligence Systems and Control This paper presents SMART-3D, an extension of the SMART algorithm to 3D environments. SMART-3D is a tree-based adaptive replanning algorithm for dynamic environments with fast moving obstacles. SMART-3D morphs the underlying tree to find a new path in real-time whenever the current path is blocked by obstacles. SMART-3D removed the grid decomposition requirement of the SMART algorithm by replacing the concept of hot-spots with that of hot-nodes, thus making it computationally efficient and scalable to 3D environments. The hot-nodes are nodes which allow for efficient reconnections to morph the existing tree to find a new safe and reliable path. The performance of SMART-3D is evaluated by extensive simulations in 2D and 3D environments populated with randomly moving dynamic obstacles. The results show that SMART-3D achieves high success rates and low replanning times, thus highlighting its suitability for real-time onboard applications. |
| title | SMART-3D: Three-Dimensional Self-Morphing Adaptive Replanning Tree |
| topic | Robotics Artificial Intelligence Systems and Control |
| url | https://arxiv.org/abs/2509.16812 |