@article{bonar2026anisotropic,
  title = {Anisotropic Graph Search on Multi-Layer Terrain Maps for Mobile Robot Path Planning},
  author = {Bartlomiej BONAR and Mateusz AMBROZKIEWICZ and Tomasz BURATOWSKI and Piotr MALKA},
  year = 2026,
  url = {https://ibimapublishing.com/articles/CIBIMA/2026/726520/},
  journal = {Communications of the IBIMA},
  volume = 2026,
  pages = 12,
  doi = doi.org/10.5171/2026.726520,
  abstract = {Rough-terrain traversal costs are inherently direction-dependent, meaning that routes of similar geometric length may differ significantly in cost depending on their orientation relative to the terrain slope. In this paper, an A*-based planner is proposed in which the classical graph-search procedure is preserved, whereas the isotropic edge weights are substituted by a cost that varies with the direction of motion. This cost is obtained from three co-registered raster layers, namely an inflated obstacle map, an elevation map, and a terrain-multiplier map. For every admissible move, it combines the step length in 3D, the average terrain multiplier of the two cells concerned, a pitch-related component along the slope, and a roll-related component across the slope, determined from the local elevation difference. Because the cost of a move between two cells may depend on its direction, planning is performed on a directed weighted graph. Five variants of the planner were tested on six benchmark maps, and each resulting path was assessed using one common terrain-aware objective. On every map, the complete formulation attained the lowest shared cost, either alone or jointly with another variant.},
  keywords = {path planning, mobile robot, A*, rough terrain, elevation map},
  note = Article ID: 726520
}