{"ID":2868506,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.16812","arxiv_id":"2509.16812","title":"SMART-3D: Three-Dimensional Self-Morphing Adaptive Replanning Tree","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.","short_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-3...","url_abs":"https://arxiv.org/abs/2509.16812","url_pdf":"https://arxiv.org/pdf/2509.16812v1","authors":"[\"Priyanshu Agrawal\",\"Shalabh Gupta\",\"Zongyuan Shen\"]","published":"2025-09-20T21:30:55Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.AI\",\"eess.SY\"]","methods":"[]","has_code":false}