interstar

Inter-Star — Modified Multi-A* for Docking / Splitting

Algorithm: Modified Multi-A* path planner for inter-reconfigurable robots. Complexity: O(log n · x).

Demo

Script

open_interstar.py — pure Python class Interstar.

from interstar.open_interstar import Interstar
planner = Interstar(...)

Paper

Title: Inter-Star: A Modified Multi A-Star Approach for Inter-Reconfigurable Robots Authors: Ash Yaw Sang Wan, Yang Zhenyuan, Chee Gen Moo, M.A. Viraj J. Muthugala, Mohan Rajesh Elara Venue: Elsevier Expert Systems with Applications, art. 129134, 2025 DOI: 10.1016/j.eswa.2025.129134

Cite

@article{wan2025inter,
  title   = {Inter-Star: A Modified Multi A-Star Approach for Inter-Reconfigurable Robots},
  author  = {Wan, Ash Yaw Sang and Zhenyuan, Yang and Gen, Moo Chee and Muthugala, M. A. Viraj J. and Elara, Mohan Rajesh},
  journal = {Expert Systems with Applications},
  pages   = {129134},
  year    = {2025},
  publisher = {Elsevier},
  doi     = {10.1016/j.eswa.2025.129134}
}

Funding

This research was supported by the National Robotics Programme under its National Robotics Programme (NRP) BAU, Ermine III: Deployable Reconfigurable Robots, Award No. M22NBK0054, and by A*STAR under its RIE2025 IAF-PP — Modular Reconfigurable Mobile Robots (MR)² programme, Grant No. M24N2a0039.