Elgohr, A. T., Rashad, M., El-Gendy, E. M., Shaaban, W., Saafan, M. M. (2026). Dynamic quality aware path planning for 6 DoF robotic arms using BiRRT and metaheuristic optimization based on B spline paths. Scientific Reports. https://doi.org/10.1038/s41598-026-37676-8