Planning

Follow this field Ask about this field

Recent momentum

emerging

0 papers in the last 28 days · 0.0% of indexed attention

Twelve weeks of publication activity for this topic as it is defined today.

Weekly history

Recent digests

What was published in this field, kept on the site without email delivery.

Period ending 2026-09-21

63 new papers

A weekly snapshot of new work published in Planning.

Period ending 2026-09-14

7 new papers

A weekly snapshot of new work published in Planning.

Inside this field

Focused directions

Focused topic

Planning Methods

Within Planning

501 papersExplore

Focused topic

Multi-Robot Systems

Within Planning

238 papersExplore

Focused topic

Classical Planning

Within Planning

236 papersExplore

Focused topic

Obstacle Avoidance

Within Planning

172 papersExplore

Focused topic

Motion Planners

Within Planning

92 papersExplore

Focused topic

Collision Avoidance

Within Planning

86 papersExplore

Focused topic

Robot Planning

Within Planning

64 papersExplore

Focused topic

Multi-Robot Motion Planning

Within Planning

41 papersExplore

Focused topic

Collision-Free Trajectories

Within Planning

39 papersExplore

1,186 papers

Latest in Planning

Browse all topics →

Simulation of collision avoidance behavior in crowd movement by data-driven approach
May 29, 2026Xuanwen Liang, Eric Wai Ming LeePedestrian Trajectory Prediction Microscopic Traffic Simulations
Probing Collision Grounding in Vision-Language Models for Safe Human-Robot Collaboration
May 29, 2026Jun Wang, Xiaohao Xu, Xiaonan HuangHuman-Robot Collaboration Explicit Visual Grounding
A study on a Real-Time VR-Based Teleoperation Framework for Manipulator in Dynamic Environment
May 29, 2026InGyu Choi, GeonYeong Go, SunWoo Ahn +2Teleoperation Robotic Arms
Trajectory Planning for Non-Communicating Mobile Robots using Inverse Optimal Control
May 29, 2026Nina Majer, Yannick Epple, Xin Ye +2Collision Avoidance Robot Systems
Closed-Loop Object-Informed Control for Non-Prehensile Robot Manipulation
May 29, 2026Nikola Raicevic, Hyomuk Kim, Shahid Mulla +5Model Predictive Path Integral Robot Planning
GSAM: A Generalizable and Safe Robotic Framework for Articulated Object Manipulation
May 29, 2026Beichen Shao, Mengying Xie, Heng Su +5Generalizable Robotic Manipulations Articulated Objects
Geometry-Aware Control Barrier Functions for Collision Avoidance via Bernstein Polynomial Approximations
May 29, 2026Siwon Jo, Yanze Zhang, Yupeng Yang +1Control Barrier Functions Collision Avoidance
Transforming and Encoding FTS for SAT Solving: What Helps, What Hurts (Extended Version)
May 28, 2026João Filipe, Álvaro Torralba, Gregor BehnkeSatisfiability Classical Planning
Before the Shutter: Aesthetic and Actionable Portrait Photography Planning in 3D Scenes
May 28, 2026Ruixiang Jiang, Chang Wen ChenPortraits 3D Object Understanding
Knowing What to Solve Before How: Preplan Empowered LLM Mathematical Reasoning
May 28, 2026Shaojie Wang, Liang ZhangMathematical Reasoning Large Language Model Planning
Does The Way You Plan Matter? An Empirical Study of Planning Representations for LLM Web Agents
May 28, 2026Alejandra Zambrano, Sara Vera Marjanovic, Imene Kerboua +2Large Language Model Planning Web Agents
Plan, Don't Pose: Long Composite Motion Generation with Text-Aligned BFM
May 28, 2026Nikolay Shvetsov, Maksim Bobrin, Nazar Buzun +2Text-To-Motion Generation Text Generation
SkillsInjector: Dynamic Skill Context Construction for LLM Agents
May 28, 2026Yanchao Li, Wanhao Liu, Ben Gao +5Planning Methods
LLM-Evolved Domain-Independent Heuristics for Symbolic AI Planning
May 28, 2026Elliot Gestrin, Jendrik SeippLarge Language Model Planning Heuristics
Planning with the Views
May 28, 2026Kangrui Wang, Linjie Li, Zhengyuan Yang +7Planning Methods
Decentralized LLM-Driven Coordination of Acoustic Robots for Contactless Object Manipulation
May 28, 2026Yingying Wang, Narsimlu Kemsaram, Sriram SubramanianGeneralizable Robotic Manipulations Multi-Robot Motion Planning
The Open Motion Planning Library 2.0
May 28, 2026Weihang Guo, Theodoros Tyrovouzis, Emiliano Flores +5Motion Planners
Structured interactions improve distributed coordination beyond model scaling in a real-world multi-robot system
May 28, 2026Junping Wang, Zhizhong Zhang, Yongqiang Tang +5Multi-Robot Systems Toward Interaction Dynamics
Learning and Adaptation in Wire Arc Additive Manufacturing Bead Geometry Control
May 27, 2026Chen-Lung Lu, John WenAdditive Manufacturing Data-Driven
An LLM-Based Assistance System for Intuitive and Flexible Capability-Based Planning
May 27, 2026Luis Miguel Vieira da Silva, Nicolas König, Felix GehlhoffLarge Language Model Planning Llm-Driven
GONDOR to the Rescue: Satisficing Planning with Low Memory
May 27, 2026Yonatan Vernik, Alexander Tuisov, Alexander ShleyfmanPlanning Methods Rescue
Accelerating Robot Path Planning via Connectivity-Preserving Region Proposal Network
May 27, 2026Zhanzheng Ma, Cancan Zhao, Shuai Zhang +1Robot Planning Segmentation Model
Plan Before Search: Search Agents Need Plan
May 27, 2026Zhipeng Qian, Zihan Liang, Yufei Ma +7Large Language Model Planning Search Agents
CogPortrait: Fine-Grained Eye-Region Control in Portrait Animation via Hierarchical Agent Planning
May 27, 2026He Feng, Yongjia Ma, Donglin Di +2Portraits Controllable Video Generation
Simultaneous Contact Selection and Planning for Contact-Rich Manipulation with Cascaded Optimization
May 27, 2026Zhe Zhang, Xingrong Diao, Haoxiang Liang +4Contact-Rich Manipulation Robotic Arms
DisasterBench: Benchmarking LLM Planning under Typed Tool Interface Constraints
May 27, 2026Zhitong Chen, Kai Yin, Weifeng Zhang +7Large Language Model Planning Disasters
HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning
May 26, 2026Kevin Lin, Ajay Mandlekar, Caelan Reed Garrett +7Humanoid Loco-Manipulation Motion Imitation
AURA: Asymptotically Optimal Uncertainty-Robust Replanning Algorithm for Kinodynamic Systems
May 26, 2026Seyedali Golestaneh, Zhuoyun Zhong, Donghyung Lee +1Motion Planners Dynamic Replanning
Simulation-Informed Diffusion for Decentralized Multi-robot Motion Planning
May 26, 2026Jinhao Liang, Sven Koenig, Ferdinando FiorettoMulti-Robot Motion Planning Collision-Free Trajectories
Latent Goal Prediction from Language for Model-Based Planning
May 26, 2026Samuel Barbeau, Simon Roy, Giovanni Beltrame +2Classical Planning Latent World Models
Reasoning and Planning with Dynamically Changing Norms
May 26, 2026Taylor Olson, Roberto Salas-Damian, Kenneth D. ForbusSocial Norms Artificial Intelligence Agents
Uni-LaViRA: Language-Vision-Robot Actions Translation for Unified Embodied Navigation
May 26, 2026Hongyu Ding, Sizhuo Zhang, Ziming Xu +13Embodied Navigation Executable Robot Behavior
SCALE-COMM: Shared, Contrastively-Aligned Latent Embeddings for MARL Communication
May 26, 2026Mahmoud Abouelyazid, Eman HammadMulti-Agent Reinforcement Learning Multi-Robot Systems
Riding the Shifting Potential: When Reactive Control Suffices for Multi-Goal Behavior
May 26, 2026Vito Mengers, Oliver BrockObstacle Avoidance Reactive
TCBiRRT: Rapid Motion Planning for Tightly Coupled Dual-arm Space Manipulator Using Task-space Random Expansion
May 26, 2026Jiawei Zhang, Xinhao Miao, Jifeng Guo +2Motion Planners Robotic Arms
Learning to Orchestrate Agents under Uncertainty
May 26, 2026Mary Chriselda Antony Oliver, Lan Jiang, Aaron Bundi Anampiu +3Multi-Agent Orchestration Frameworks Orchestration
Constrained Bayesian Experimental Design via Online Planning
May 26, 2026Yujia Guo, Daolang Huang, Xinyu Zhang +3Bayesian Experimental Design Constrained Optimization
Credibility-Aware Learning and Control for Safe USV Navigation under Perception Uncertainty
May 26, 2026Yuhang Zhang, Shuqi Chai, Yukang Zhang +5Collision Avoidance
PEACE: A Planner-Executor Agent with Constraint Enforcement for UAVs
May 26, 2026Erdem Uysal, Timo Kehrer, Sebastiano PanichellaDrone Planning Methods
Towards Feedback-to-Plan Decisions for Self-Evolving LLM Agents in CUDA Kernel Generation
May 26, 2026Yee Hin Chong, Jiaming Wu, Youhui Zhang +1Large Language Model Planning Graphics Processing Unit Kernels
Provably Safe Motion Planning Under Unknown Disturbances
May 26, 2026Ibon Gracia, Qi Heng Ho, Luca Laurenti +1Motion Planners Safety Constraints
Heterogeneous AAV Logistics Task Allocation: A Reinforcement Learning Enhanced Overlapping Coalition Formation Game Approach
May 26, 2026Yuze Zhou, Jingliang Sun, Junzhi Li +3Multi-Agent Reinforcement Learning Multi-Robot Systems
Multi-Robot Box Transport over Different Surfaces with Decentralized Role-based Proportional Control
May 26, 2026Aditya Bhatt, Himavarshini Yarragangu, Urvish Shah +2Multi-Robot Systems Massive
Plans for Evaluating Structured Generative Search Summaries
May 26, 2026Tetsuya Sakai, Jina Lee, Hanpei Fang +1Summarization Information Retrieval Metrics
Sentinel: Embodied Cooperative Spatial Reasoning and Planning
May 25, 2026Xiangye Lin, Hongxin Zhang, Ruxi Deng +2Multi-Agent Coordination Embodied Spatial Intelligence
Optimal and Order-optimal Gated Priority-based Greedy Policies for Two-layer Multi-item Order Fulfillment
May 25, 2026Xi Chen, Yuze Chen, Ziyi Chen +1Dynamic Order Fulfillment Operations Order
RePlan-Bot: Multi-Level Replanning for Embodied Instruction Following
May 25, 2026Xicheng Gong, Guozheng Sun, Peiran Xu +1Embodied Agents Classical Planning
Multi-Agent Coordination Adaptation via Structure-Guided Orchestration
May 25, 2026Haoran Li, Shulun Chen, Shaoyuan Sun +1Multi-Agent Coordination Coordination
Collaborative Threat-Aware Autonomy (CTAA)
May 25, 2026Rajnikant Sharma, Abhinav Sinha, Isaac WeintraubMulti-Uav Systems Collision Avoidance
Learning to Search and Searching to Learn for Generalization in Planning
May 25, 2026Michael Aichmüller, Yannik Hesse, Hector GeffnerClassical Planning Deep Reinforcement Learning
Bridging the 2D-3D Gap: A Hierarchical Semantic-Geometric Map for Vision Language Navigation
May 25, 2026Kailing Li, Tianwen Qian, Lijin Yang +4Vision-Language Navigation 3D Spatial Reasoning
Acting on the Unseen: Communication-Free Collaborative Filtering for Decentralized Multi-Robot Task Allocation
May 25, 2026Alexander Apartsin, Yigal Meshulam, Yehudit ApersteinMulti-Robot Systems Human-To-Robot Transfer
Pre-Registering the Detectable Effect: A Paired-MDE Budget for 4-bit Quantization Benchmarks, with a Pilot Audit
May 25, 2026Zexin Zhuang, Yanhang Li, Zhichao FanEffect Sizes Token Budgets
Prior Policy Guided Dual-Agent Coordinated Manipulation Planning of Spacecraft-Manipulator System
May 25, 2026Yuhui Hu, Dong Zhou, Kaihong Ouyang +3Robotic Arms Robotic Manipulation Policies
Parallel Differentiable Reachability for Learning and Planning with Certified Neural Dynamics and Controllers
May 25, 2026Keyi Shen, Glen ChouNeural Control Reachability
GroupTravelBench: Benchmarking LLM Agents on Multi-Person Travel Planning
May 24, 2026Xiang Cheng, Yulan Hu, Lulu Zheng +4Tour Large Language Model Planning
Baton: Explicit Semantic Blueprints for Joint Video-Audio Generation
May 24, 2026Shuyuan Tu, Qi Tian, Zihan Yang +9Joint Audio-Video Generation Audio Latent
Convex-Neural RRT*: Fast and Reliable Learning-Guided Sampling for High-Quality Robot Path Planning
May 24, 2026Hichem Cheriet, Badra Khellat Kihel, Samira Chouraqui +1Robot Planning Obstacle Avoidance
Scaling up Energy-Aware Multi-Agent Reinforcement Learning for Mission-Oriented Drone Networks with Individual Reward
May 24, 2026Changling Li, Ying LiMulti-Drone Coordination Multi-Agent Reinforcement Learning
Dynamic Neural Koopman Distillation for Real-Time Robot Control Using Diffusion Models
May 24, 2026Lei Zheng, Peiqi Yu, Zengqi Peng +2Diffusion Policies Robot Planning

May 29, 2026 · cs.ROJ/K move · Enter open · S save

Simulation of collision avoidance behavior in crowd movement by data-driven approach

Xuanwen Liang, Eric Wai Ming Lee

Department of Architecture and Civil Engineering City University of Hong Kong, Hong Kong

Crowd movement simulation is essential for pedestrian safety management and facility layout optimization. Data-driven models enhance trajectory prediction accuracy under Euclidean metrics, yet they suffer from excessively high collision rates, especially in bidirectional and multidirectional flows. In this paper, we establish a novel data-driven crowd simulation model that incorporates the pedestrian collision mechanism into the loss function to reduce collisions. A new lateral-acceleration-based collision loss function and a Voronoi-based motion feature extraction approach are proposed. The model is based on a Generative Adversarial Network (GAN) architecture and is termed CPGAN (Collision-Penalized GAN). We evaluate CPGAN in bidirectional flow scenarios, which involve frequent collision avoidance behaviors. Results show that the proposed lateral-acceleration-based collision loss significantly reduces opposite-direction pedestrian collision rates to levels comparable with controlled experiments. CPGAN effectively simulates bidirectional flow, reproducing lane formation and N-t curves. The research outcomes can provide inspiration for integrating pedestrian dynamics mechanisms into loss functions in data-driven crowd simulation.

Pedestrian Trajectory Prediction Microscopic Traffic Simulations Collision Prediction Collision Avoidance Generative Adversarial Network Bidirectional

Open paper Ask about it PDF