# Goal-biased Bidirectional RRT based on Curve-smoothing

> Research article (IFAC-PapersOnLine, 2019) · cited 44× · AI/ML

**Wikidata**: [openalex:W2997571480](https://www.wikidata.org/wiki/openalex:W2997571480)  
**Source**: https://4ort.xyz/entity/goal-biased-bidirectional-rrt-based-on-curve-smoothing