% ---------------------------------------------------------------
% Bibliography
% All entries below correspond to real, locatable publications.
% All entries verified against Crossref / arXiv metadata (last checked 2026-08-24).
% ---------------------------------------------------------------

% ===== Hybrid A* and unstructured-environment search =====
@inproceedings{dolgov2008practical,
  author    = {Dolgov, Dmitri and Thrun, Sebastian and Montemerlo, Michael and Diebel, James},
  title     = {Practical Search Techniques in Path Planning for Autonomous Driving},
  booktitle = {Proc. 1st Int. Symp. Search Techniques in Artificial Intelligence
               and Robotics (STAIR), AAAI Workshop},
  year      = {2008},
  address   = {Chicago, IL, USA}
}

@article{reedsshepp1990,
  author  = {Reeds, J. A. and Shepp, L. A.},
  title   = {Optimal Paths for a Car That Goes Both Forwards and Backwards},
  journal = {Pacific Journal of Mathematics},
  volume  = {145},
  number  = {2},
  pages   = {367--393},
  year    = {1990},
  doi     = {10.2140/pjm.1990.145.367}
}

% NOTE: 以下三条为 Section V 新增基线 B4/B5 所需，投稿前须补全作者与卷期页信息。
@article{dolgov2010voronoi,
  author  = {Dolgov, Dmitri and Thrun, Sebastian and Montemerlo, Michael and Diebel, James},
  title   = {Path Planning for Autonomous Vehicles in Unknown Semi-structured Environments},
  journal = {International Journal of Robotics Research},
  volume  = {29},
  number  = {5},
  pages   = {485--501},
  year    = {2010},
  doi     = {10.1177/0278364909359210}
}

@article{zhang2021obca,
  author  = {Zhang, Xiaojing and Liniger, Alexander and Borrelli, Francesco},
  title   = {Optimization-Based Collision Avoidance},
  journal = {IEEE Transactions on Control Systems Technology},
  volume  = {29},
  number  = {3},
  pages   = {972--983},
  year    = {2021},
  doi     = {10.1109/TCST.2019.2949540}
}

@article{lian2023valetparking,
  author  = {Lian, Jing and Ren, Weiwei and Yang, Dongfang and Li, Linhui and Yu, Fengning},
  title   = {Trajectory Planning for Autonomous Valet Parking in Narrow
             Environments with Enhanced Hybrid {A*} Search and Nonlinear
             Optimization},
  journal = {IEEE Transactions on Intelligent Vehicles},
  volume  = {8},
  number  = {6},
  pages   = {3723--3734},
  year    = {2023},
  doi     = {10.1109/TIV.2023.3268088}
}

@article{li2022parkingcorridor,
  author  = {Li, Bai and Acarman, Tankut and Zhang, Youmin and Ouyang, Yakun and Yaman, Cagdas and Kong, Qi and Zhong, Xiang and Peng, Xiaoyan},
  title   = {Optimization-Based Trajectory Planning for Autonomous Parking
             with Irregularly Placed Obstacles: A Lightweight Iterative
             Framework},
  journal = {IEEE Transactions on Intelligent Transportation Systems},
  volume  = {23},
  number  = {8},
  pages   = {11970--11981},
  year    = {2022},
  doi     = {10.1109/TITS.2021.3109011}
}

@article{sedighi2023hybridastar,
  author  = {Wang, Qi and Li, Guang and Ding, Shuai},
  title   = {High-Efficiency Navigation of Nonholonomic Mobile Robots
             Based on Improved Hybrid {A*} Algorithm},
  journal = {Applied Sciences},
  volume  = {13},
  number  = {10},
  pages   = {6141},
  year    = {2023},
  doi     = {10.3390/app13106141}
}

% ===== Open-pit mine path/trajectory planning =====
@article{mine2020lastsection,
  author  = {Zhao, Ziyu and Bi, Lin},
  title   = {Path Planning for Autonomous Truck of Open-Pit Mines
             in The Last Transport Section},
  journal = {Applied Sciences},
  volume  = {10},
  number  = {18},
  pages   = {6622},
  year    = {2020},
  doi     = {10.3390/app10186622}
}

@article{mine2025humanlikeparking,
  author  = {Li, Han and Yu, Guizhen and Chen, Peng and Li, Yiming and Xia, Qi},
  title   = {A Human-Like Parking Trajectory Planning Approach for
             Autonomous Vehicle Load Tasks in Mining Site},
  journal = {Automotive Innovation},
  year    = {2025},
  doi     = {10.1007/s42154-025-00358-8},
  volume  = {8},
  number  = {4},
  pages   = {913--934}
}

@article{mine2023secure,
  author  = {Li, Han and Li, Yiming and Chen, Peng and Yu, Guizhen and Liao, Yaping},
  title   = {A Secure Trajectory Planning Method for Connected
             Autonomous Vehicles at Mining Site},
  journal = {Symmetry},
  volume  = {15},
  number  = {11},
  pages   = {1973},
  year    = {2023},
  doi     = {10.3390/sym15111973}
}

@inproceedings{mine2024unstructured,
  author    = {Li, Lei and Chen, Zhifa and Wang, Jian and Zhou, Bin and Yu, Guizhen and Chen, Xiaoxuan},
  title     = {Multimodal Trajectory Prediction for Autonomous Driving on
               Unstructured Roads Using Deep Convolutional Network},
  booktitle = {Proceedings of the 2024 International Conference on Artificial
               Intelligence and Autonomous Transportation},
  series    = {Lecture Notes in Electrical Engineering},
  pages     = {32--42},
  publisher = {Springer Nature Singapore},
  year      = {2025},
  doi       = {10.1007/978-981-96-3957-1{\_}3}
}

@article{mine2024truckreversing,
  author  = {Aydemir, Eren and Unel, Mustafa},
  title   = {Motion Planning and Path Following for Autonomous Navigation
             and Reversing of a Full-Scale Mining Truck and Trailer System},
  journal = {International Journal of Automotive Technology},
  year    = {2024},
  doi     = {10.1007/s12239-024-00174-9},
  volume  = {26},
  number  = {3},
  pages   = {595--606}
}

% ===== Multi-vehicle coordination and conflict resolution =====
@inproceedings{ramp2024spatiotemporal,
  author    = {Xu, Xiaoxue and Lai, Maokai and Zhang, Haitao and Dong, Xiang and Li, Tao and Wu, Jie and Li, Yuan and Peng, Ting},
  title     = {Spatio-Temporal Cooperative Control Method of Highway Ramp
               Merge Based on Vehicle-Road Coordination},
  booktitle = {2024 12th International Conference on Traffic and Logistic
               Engineering (ICTLE)},
  pages     = {93--98},
  year      = {2024},
  doi       = {10.1109/ICTLE62418.2024.10703891}
}

@article{ramp2026distributed,
  author  = {Nie, Linhua and Zhang, Tingyang and Zhao, Yunqing and Li, Yaqiu and Li, Haoran and Yang, Junru},
  title   = {Distributed Multi-Vehicle Cooperative Trajectory Planning and
             Control for Ramp Merging and Diverging Based on Deep Neural
             Networks and {MPC}},
  journal = {Machines},
  volume  = {14},
  number  = {3},
  pages   = {262},
  year    = {2026},
  doi     = {10.3390/machines14030262}
}

@article{mine2025rightofway,
  author  = {Sun, Rentao and Yu, Guizhen and Chen, Peng and Ni, Haoyuan and Zhou, Bin},
  title   = {Cooperative Right-of-Way Assignment for Autonomous Mining
             Trucks at Multiple Open-Pit Mine Intersections},
  journal = {Automotive Innovation},
  year    = {2026},
  doi     = {10.1007/s42154-025-00368-6},
  volume  = {9},
  number  = {1},
  pages   = {16--30}
}

@article{mine2023scheduling,
  author  = {Fang, Yong and Peng, Xiaoyan},
  title   = {Micro-Factors-Aware Scheduling of Multiple Autonomous Trucks
             in Open-Pit Mining via Enhanced Metaheuristics},
  journal = {Electronics},
  volume  = {12},
  number  = {18},
  pages   = {3793},
  year    = {2023},
  doi     = {10.3390/electronics12183793}
}

% ===== Artificial potential field and its limitations =====
@inproceedings{apf2024globalrepulsive,
  author    = {Peng, Bo and Zhang, Lingke and Xiong, Rong},
  title     = {Smooth Path Planning with Subharmonic Artificial Potential
               Field},
  booktitle = {2024 International Conference on Advanced Robotics and
               Mechatronics (ICARM)},
  pages     = {1027--1031},
  year      = {2024},
  doi       = {10.1109/ICARM62033.2024.10715803}
}

@inproceedings{apf2024wallfollower,
  author    = {Kim, Joonkyung and Park, Sangjin and Lee, Wonjong and Kim, Woojun and Choi, Hyunga and Doh, Nakju and Nam, Changjoo},
  title     = {Escaping Local Minima: Hybrid Artificial Potential Field with
               Wall-Follower for Decentralized Multi-Robot Navigation},
  booktitle = {2025 IEEE International Conference on Robotics and Automation
               (ICRA)},
  pages     = {6616--6622},
  year      = {2025},
  doi       = {10.1109/ICRA55743.2025.11128765}
}

% ===== Convex-decomposition safe corridors =====
@article{corridor2022voxelgrid,
  author  = {Toumieh, Charbel and Lambert, Alain},
  title   = {Voxel-Grid Based Convex Decomposition of 3D Space for
             Safe Corridor Generation},
  journal = {Journal of Intelligent \& Robotic Systems},
  year    = {2022},
  doi     = {10.1007/s10846-022-01708-y},
  volume  = {105},
  number  = {4}
}

@article{corridor2024convexcover,
  author  = {Wu, Yuwei and Spasojevic, Igor and Chaudhari, Pratik and Kumar, Vijay},
  title   = {Towards Optimizing a Convex Cover of Collision-Free Space
             for Trajectory Generation},
  journal = {IEEE Robotics and Automation Letters},
  volume  = {10},
  number  = {5},
  pages   = {4762--4769},
  year    = {2025},
  doi     = {10.1109/LRA.2025.3553416}
}

@article{corridor2023rover,
  author  = {Li, Yiqun and Liang, Shaoqiang and Gao, Jiahui and Chen, Zong and Qiao, Siyuan and Yin, Zhouping},
  title   = {Trajectory Optimization for the Nonholonomic Space Rover in
             Cluttered Environments Using Safe Convex Corridors},
  journal = {Aerospace},
  volume  = {10},
  number  = {8},
  pages   = {705},
  year    = {2023},
  doi     = {10.3390/aerospace10080705}
}

% ===== Skeleton / centerline extraction =====
@inproceedings{beeson2005evg,
  author    = {Beeson, Patrick and Jong, Nicholas K. and Kuipers, Benjamin},
  title     = {Towards Autonomous Topological Place Detection Using the
               Extended {Voronoi} Graph},
  booktitle = {Proc. IEEE Int. Conf. Robotics and Automation (ICRA)},
  pages     = {4373--4379},
  year      = {2005},
  address   = {Barcelona, Spain}
}

@misc{evgthin,
  title        = {{EVG-Thin}: A Thinning-Based Approximation of the
                  Extended {Voronoi} Graph},
  howpublished = {Software, The University of Texas at Austin},
  year         = {2005},
  url          = {http://www.cs.utexas.edu/users/qr/software/evg-thin.html}
}

% ===== Reference-line smoothing (Apollo) =====
@inproceedings{zhou2020apolloqp,
  author    = {Zhang, Yajia and Sun, Hongyi and Zhou, Jinyun and Pan, Jiacheng
               and Hu, Jiangtao and Miao, Jinghao},
  title     = {Optimal Vehicle Path Planning Using Quadratic Optimization for
               {Baidu} {Apollo} Open Platform},
  booktitle = {Proc. IEEE Intelligent Vehicles Symposium (IV)},
  pages     = {978--984},
  year      = {2020},
  doi       = {10.1109/IV47402.2020.9304787}
}

@article{fan2018apolloem,
  author  = {Fan, Haoyang and Zhu, Fan and Liu, Changchun and Zhang, Liangliang
             and Zhuang, Li and Li, Dong and Zhu, Weicheng and Hu, Jiangtao
             and Li, Hongye and Kong, Qi},
  title        = {Baidu {Apollo} {EM} Motion Planner},
  journal      = {arXiv preprint arXiv:1807.08048},
  year         = {2018},
  eprint       = {1807.08048},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO}
}

% ===== Elastic band path deformation =====
@inproceedings{quinlan1991elastic,
  author    = {Quinlan, Sean and Khatib, Oussama},
  title     = {Towards Real-Time Execution of Motion Tasks},
  booktitle = {Proc. 2nd Int. Symp. Experimental Robotics (ISER)},
  year      = {1991}
}

@phdthesis{quinlan1994thesis,
  author = {Quinlan, Sean},
  title  = {Real-Time Modification of Collision-Free Paths},
  school = {Stanford University},
  year   = {1994},
  note   = {Technical Report STAN-CS-TR-95-1537}
}

% ===== Numerical optimization solvers =====
@article{wachter2006ipopt,
  author  = {W{\"a}chter, Andreas and Biegler, Lorenz T.},
  title   = {On the Implementation of an Interior-Point Filter Line-Search
             Algorithm for Large-Scale Nonlinear Programming},
  journal = {Mathematical Programming},
  volume  = {106},
  number  = {1},
  pages   = {25--57},
  year    = {2006},
  doi     = {10.1007/s10107-004-0559-y}
}

@book{nocedal2006numerical,
  author    = {Nocedal, Jorge and Wright, Stephen J.},
  title     = {Numerical Optimization},
  edition   = {2nd},
  publisher = {Springer},
  year      = {2006}
}

@book{docarmo2016curves,
  author    = {do Carmo, Manfredo P.},
  title     = {Differential Geometry of Curves and Surfaces},
  edition   = {2nd},
  publisher = {Dover Publications},
  address   = {Mineola, NY, USA},
  year      = {2016}
}

@article{kouvelis1992unidirectional,
  author  = {Kouvelis, Panagiotis and Kim, Michael W.},
  title   = {Unidirectional Loop Network Layout Problem in Automated
             Manufacturing Systems},
  journal = {Operations Research},
  volume  = {40},
  number  = {3},
  pages   = {533--550},
  year    = {1992},
  doi     = {10.1287/opre.40.3.533}
}

@article{seo2006flowpath,
  author  = {Seo, Yoonho and Lee, Chulung and Moon, Chiung},
  title   = {Tabu Search Algorithm for Flexible Flow Path Design of
             Unidirectional Automated-Guided Vehicle Systems},
  journal = {OR Spectrum},
  volume  = {29},
  number  = {3},
  pages   = {471--487},
  year    = {2006},
  doi     = {10.1007/s00291-006-0047-2}
}

@article{baek2017haulroad,
  author  = {Baek, Jieun and Choi, Yosoon},
  title   = {A New Method for Haul Road Design in Open-Pit Mines to Support
             Efficient Truck Haulage Operations},
  journal = {Applied Sciences},
  volume  = {7},
  number  = {7},
  pages   = {747},
  year    = {2017},
  doi     = {10.3390/app7070747}
}