An Improved Artificial Potential Field-based SImultaneous FORward Search (Improved APF-based SIFORS) method for robot path planning. - Guanghui Li; Shuiguang Tong; Gang Lv; Renyuan Xiao; Feiyun Cong; Zheming Tong; Atsushi Yamashita; Hajime Asama (URAI, 2015)