A Heuristic Rapidly-Exploring Random Trees Method for Manipulator Motion Planning. - Chengren Yuan; Wenqun Zhang; Guifeng Liu; Xinglong Pan; Xiaohu Liu (IEEE Access, 2020)

An efficient RRT cache method in dynamic environments for path planning. - Chengren Yuan; Guifeng Liu; Wenqun Zhang; Xinglong Pan (Robotics Auton. Syst., 2020)

A Novel Real-Time Obstacle Avoidance Method in Guidance Layer for AUVs' Path Following. - Chengren Yuan; Changgeng Shuai; Jianguo Ma (IEEE Trans. Veh. Technol., 2024)

Geometric line-of-sight guidance law with exponential switching sliding mode control for marine vehicles' path following. - Chengren Yuan; Changgeng Shuai; Zhanshuo Zhang; Buyun Li; Yuqiang Cheng; Jianguo Ma (Frontiers Robotics AI, 2025)