# BI-RRT*: An improved path planning algorithm for secure and trustworthy mobile robots systems

> Research article (Heliyon, 2024) · cited 28× · AI/ML

**Wikidata**: [openalex:W4391957726](https://www.wikidata.org/wiki/openalex:W4391957726)  
**Source**: https://4ort.xyz/entity/bi-rrt-an-improved-path-planning-algorithm-for-secure-and-trustworthy-mobile-robots-systems