Exploring the QCD Phase Structure with Beam Energy Scan in Heavy-ion Collisions

Beam energy scan programs in heavy-ion collisions aim to explore the QCD phase structure at high baryon density. Sensitive observables are applied to probe the signatures of the QCD phase transition and critical point in heavy-ion collisions at RHIC and SPS. Intriguing structures, such as dip, peak and oscillation, have been observed in the energy dependence of various observables. In this paper, an overview is given and corresponding physics implications will be discussed for the experimental highlights from the beam energy scan programs at the STAR, PHENIX and NA61/SHINE experiments. Furthermore, the beam energy scan phase II at RHIC (2019-2020) and other future experimental facilities for studying the physics at low energies will be also discussed.