# Faster RRT-based Nonholonomic Path Planning in 2D Building Environments Using Skeleton-constrained Path Biasing

> Research article (Journal of Intelligent & Robotic Systems, 2017) · cited 44× · AI/ML

**Wikidata**: [openalex:W2618658041](https://www.wikidata.org/wiki/openalex:W2618658041)  
**Source**: https://4ort.xyz/entity/faster-rrt-based-nonholonomic-path-planning-in-2d-building-environments-using-skeleton-constrained-path-biasing