diff --git a/rclcpp/include/rclcpp/parameter_map.hpp b/rclcpp/include/rclcpp/parameter_map.hpp
index 303eac4a95..797aa00120 100644
--- a/rclcpp/include/rclcpp/parameter_map.hpp
+++ b/rclcpp/include/rclcpp/parameter_map.hpp
@@ -53,11 +53,12 @@ parameter_value_from(const rcl_variant_t * const c_value);
 
 /// Get the ParameterMap from a yaml file.
 /// \param[in] yaml_filename full name of the yaml file.
+/// \param[in] node_fqn a Fully Qualified Name of node, default value is nullptr.
 /// \returns an instance of a parameter map
 /// \throws from rcl error of rcl_parse_yaml_file()
 RCLCPP_PUBLIC
 ParameterMap
-parameter_map_from_yaml_file(const std::string & yaml_filename);
+parameter_map_from_yaml_file(const std::string & yaml_filename, const char * node_fqn = nullptr);
 
 }  // namespace rclcpp
 
diff --git a/rclcpp/src/rclcpp/parameter_client.cpp b/rclcpp/src/rclcpp/parameter_client.cpp
index 38ced0e1a5..41c97eb13d 100644
--- a/rclcpp/src/rclcpp/parameter_client.cpp
+++ b/rclcpp/src/rclcpp/parameter_client.cpp
@@ -290,7 +290,8 @@ std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
 AsyncParametersClient::load_parameters(
   const std::string & yaml_filename)
 {
-  rclcpp::ParameterMap parameter_map = rclcpp::parameter_map_from_yaml_file(yaml_filename);
+  rclcpp::ParameterMap parameter_map =
+    rclcpp::parameter_map_from_yaml_file(yaml_filename, remote_node_name_.c_str());
   return this->load_parameters(parameter_map);
 }
 
@@ -298,25 +299,11 @@ std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>
 AsyncParametersClient::load_parameters(
   const rclcpp::ParameterMap & parameter_map)
 {
-  std::vector<rclcpp::Parameter> parameters;
-  std::string remote_name = remote_node_name_.substr(remote_node_name_.substr(1).find("/") + 2);
-  for (const auto & params : parameter_map) {
-    std::string node_full_name = params.first;
-    std::string node_name = node_full_name.substr(node_full_name.find("/*/") + 3);
-    if (node_full_name == remote_node_name_ ||
-      node_full_name == "/**" ||
-      (node_name == remote_name))
-    {
-      for (const auto & param : params.second) {
-        parameters.push_back(param);
-      }
-    }
-  }
-
-  if (parameters.size() == 0) {
+  auto iter = parameter_map.find(remote_node_name_);
+  if (iter == parameter_map.end() || iter->second.size() == 0) {
     throw rclcpp::exceptions::InvalidParametersException("No valid parameter");
   }
-  auto future_result = set_parameters(parameters);
+  auto future_result = set_parameters(iter->second);
 
   return future_result;
 }
diff --git a/rclcpp/src/rclcpp/parameter_map.cpp b/rclcpp/src/rclcpp/parameter_map.cpp
index cb458e7db3..600fbec682 100644
--- a/rclcpp/src/rclcpp/parameter_map.cpp
+++ b/rclcpp/src/rclcpp/parameter_map.cpp
@@ -143,7 +143,7 @@ rclcpp::parameter_value_from(const rcl_variant_t * const c_param_value)
 }
 
 ParameterMap
-rclcpp::parameter_map_from_yaml_file(const std::string & yaml_filename)
+rclcpp::parameter_map_from_yaml_file(const std::string & yaml_filename, const char * node_fqn)
 {
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
   rcl_params_t * rcl_parameters = rcl_yaml_node_struct_init(allocator);
@@ -153,5 +153,5 @@ rclcpp::parameter_map_from_yaml_file(const std::string & yaml_filename)
     rclcpp::exceptions::throw_from_rcl_error(RCL_RET_ERROR);
   }
 
-  return rclcpp::parameter_map_from(rcl_parameters);
+  return rclcpp::parameter_map_from(rcl_parameters, node_fqn);
 }
diff --git a/rclcpp/test/rclcpp/test_parameter_client.cpp b/rclcpp/test/rclcpp/test_parameter_client.cpp
index 4cd9e671be..697a4ef5c8 100644
--- a/rclcpp/test/rclcpp/test_parameter_client.cpp
+++ b/rclcpp/test/rclcpp/test_parameter_client.cpp
@@ -948,3 +948,52 @@ TEST_F(TestParameterClient, sync_parameter_load_parameters) {
   auto list_parameters = synchronous_client->list_parameters({}, 3);
   ASSERT_EQ(list_parameters.names.size(), static_cast<uint64_t>(5));
 }
+
+/*
+  Coverage for async load_parameters with complicated regex expression
+ */
+TEST_F(TestParameterClient, async_parameter_load_parameters_complicated_regex) {
+  auto load_node = std::make_shared<rclcpp::Node>(
+    "load_node",
+    "namespace",
+    rclcpp::NodeOptions().allow_undeclared_parameters(true));
+  auto asynchronous_client =
+    std::make_shared<rclcpp::AsyncParametersClient>(load_node, "/namespace/load_node");
+  // load parameters
+  rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
+  const std::string parameters_filepath = (
+    test_resources_path / "test_node" / "load_complicated_parameters.yaml").string();
+  auto load_future = asynchronous_client->load_parameters(parameters_filepath);
+  auto result_code = rclcpp::spin_until_future_complete(
+    load_node, load_future, std::chrono::milliseconds(100));
+  ASSERT_EQ(result_code, rclcpp::FutureReturnCode::SUCCESS);
+  ASSERT_EQ(load_future.get()[0].successful, true);
+  // list parameters
+  auto list_parameters = asynchronous_client->list_parameters({}, 3);
+  rclcpp::spin_until_future_complete(
+    load_node, list_parameters, std::chrono::milliseconds(100));
+  ASSERT_EQ(list_parameters.get().names.size(), static_cast<uint64_t>(6));
+  // to check the parameter "a_value"
+  std::string param_name = "a_value";
+  auto param = load_node->get_parameter(param_name);
+  ASSERT_EQ(param.get_value<std::string>(), "last_one_win");
+}
+
+/*
+  Coverage for async load_parameters to load file without valid parameters
+ */
+TEST_F(TestParameterClient, async_parameter_load_no_valid_parameter) {
+  auto load_node = std::make_shared<rclcpp::Node>(
+    "load_node",
+    "namespace",
+    rclcpp::NodeOptions().allow_undeclared_parameters(true));
+  auto asynchronous_client =
+    std::make_shared<rclcpp::AsyncParametersClient>(load_node, "/namespace/load_node");
+  // load parameters
+  rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
+  const std::string parameters_filepath = (
+    test_resources_path / "test_node" / "no_valid_parameters.yaml").string();
+  EXPECT_THROW(
+    asynchronous_client->load_parameters(parameters_filepath),
+    rclcpp::exceptions::InvalidParametersException);
+}
diff --git a/rclcpp/test/resources/test_node/load_complicated_parameters.yaml b/rclcpp/test/resources/test_node/load_complicated_parameters.yaml
new file mode 100644
index 0000000000..7722f636c2
--- /dev/null
+++ b/rclcpp/test/resources/test_node/load_complicated_parameters.yaml
@@ -0,0 +1,25 @@
+/**:
+  ros__parameters:
+    bar: 5
+    foo: 3.5
+    a_value: "first"
+
+/*:
+  load_node:
+    ros__parameters:
+      bar_foo: "ok"
+      a_value: "second"
+
+namespace:
+  load_node:
+    ros__parameters:
+      foo_bar: true
+      a_value: "third"
+
+bar:
+  ros__parameters:
+    fatal: 10
+
+/**/namespace/*:
+  ros__parameters:
+    a_value: "last_one_win"
diff --git a/rclcpp/test/resources/test_node/no_valid_parameters.yaml b/rclcpp/test/resources/test_node/no_valid_parameters.yaml
new file mode 100644
index 0000000000..a75356cd77
--- /dev/null
+++ b/rclcpp/test/resources/test_node/no_valid_parameters.yaml
@@ -0,0 +1,4 @@
+/no/valid/parameters/node:
+  ros__parameters:
+    bar: 5
+    foo: 3.5