SMART-3D: Three-Dimensional Self-Morphing Adaptive Replanning Tree

Priyanshu Agrawal, Shalabh Gupta, Zongyuan Shen
9/20/2025
cs.ROcs.AIeess.SY

No confident code implementation found for this paper. 1 possible match can be shown below.

Abstract

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.

View on arXivView PDF

Code Implementations

No confident code match yet

We couldn't find an author-owned or strongly-evidenced community implementation for this paper. 1 weaker match is hidden by default — verify before relying on them.

No code implementations found yet.

Know of an implementation? Let us know in the comments below!

Similar Papers

FMT$^{x}$: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning

83% match2025

Zonal RL-RRT: Integrated RL-RRT Path Planning with Collision Probability and Zone Connectivity

77% match1 repo152024

Online Efficient Safety-Critical Control for Mobile Robots in Unknown Dynamic Multi-Obstacle Environments

76% match2024

Diffusion-based Reinforcement Learning for Dynamic UAV-assisted Vehicle Twins Migration in Vehicular Metaverses

76% match2024

An Adaptive Metaheuristic Framework for Changing Environments

75% match2024

Multi-Stream Cellular Test-Time Adaptation of Real-Time Models Evolving in Dynamic Environments

75% match2 repos232024

Cite this paper

@article{agrawal2025smartd,
  title  = {SMART-3D: Three-Dimensional Self-Morphing Adaptive Replanning Tree},
  author = {Priyanshu Agrawal and Shalabh Gupta and Zongyuan Shen},
  year   = {2025},
  eprint = {2509.16812},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2509.16812v1}
}

Add a badge to your README

Shows whether official code is linked for this paper.

Code of Paper badge
[![Code of Paper](https://codeofpaper.com/badge/2509.16812.svg)](https://codeofpaper.com/paper/2509.16812)

Discussion