Development and Analysis of an Improved Prototype within a Class of Bug-based Heuristic Path Planners. - Yan Kai Lai; Prahlad Vadakkepat; Abdullah Al Mamun 002; Cheng Xiang 001; Tong Heng Lee (ISIE, 2021)

Evolving R2 to R2+: Optimal, Delayed Line-of-sight Vector-based Path Planning. - Yan Kai Lai; Prahlad Vadakkepat; Cheng Xiang 001 (CoRR, 2024)

Rapid Vector-based Any-angle Path Planning with Non-convex Obstacles. - Yan Kai Lai (CoRR, 2024)

R2: Optimal vector-based and any-angle 2D path planning with non-convex obstacles. - Yan Kai Lai; Prahlad Vadakkepat; Cheng Xiang 001 (Robotics Auton. Syst., 2024)