Constrained Motion Planning

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16 papers in the last four weeks, up 167% on the four weeks before. 0.2% of all new papers.

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  1. Making Task Abstractions Executable: Control-Aware Layout Repair for a Fixed Controller

    Oct 7, 2026Chiyoung Kim, Seungyeon Back, Sumin Shim +2Robot Task PlanningConstrained Motion Planning

    Chung-Ang University · Hanyang University · Carnegie Mellon University +1

  2. Distributed Motion Planning for Multi-Robot Systems under Topological Constraints

    Oct 7, 2026Gianpietro Battocletti, Dimitris Boskos, Dimos V. Dimarogonas +1Multi-Robot Motion PlanningMulti-Robot Coordination

    Delft Center for Systems and Control, Delft University of Technology, Delft, The Netherlands. · Division of Decision And Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden.

  3. NMPP: Nonlinear Model Predictive Planning for Agile UAV Flight in Cluttered Environments

    Oct 6, 2026Ondřej Procházka, Juraj Pauko, Robert Pěnička +1Constrained Motion PlanningNonlinear MPC

    Multi-robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic

  4. Model-Based Geometry-Aware Generative Optimization for Constrained Locomotion Planning

    Oct 6, 2026Zhilin He, Xinyuan Wang, Changliu LiuConstrained Generative ModelingConstrained Motion Planning

    Carnegie Mellon University · University of Michigan, Ann Arbor

  5. P3: Persistent Particle Planning for Constrained Diffusion Control

    Oct 5, 2026Hikmet Simsir, Mahyar Fardinfar, Ozgur S. OguzConstrained Motion PlanningTrajectory Generation

    Department of Computer Engineering, Bilkent University

  6. Dynamics-Aware Adaptive Corridors with Feasibility-Perturbed Trust-Region SQP for Certified Nonholonomic Motion Planning

    Oct 5, 2026Yang ShiConstrained Motion PlanningTrajectory Generation

    Jiangsu College of Safety Technology, Jiangsu, China

  7. Training-Free Diffusion Planning with Analytical Local Scores

    Oct 1, 2026Michael Y. Fatemi, Jinhao Liang, Ferdinando FiorettoMulti-Robot Motion PlanningConstrained Motion Planning

    University of Virginia

  8. Cross-entropy optimization with prioritized constraints

    Oct 1, 2026Francisco Roldan Sanchez, Pau de las Heras Molins, David Fridovich-Keil +1Constrained Motion PlanningBlack-Box Optimization

    LTCI, Télécom Paris, Institut Polytechnique de Paris · The University of Texas at Austin

  9. Executor-aware Candidate Selection via a Feasibility Certificate

    Sep 29, 2026Sooin Choi, Soonwoong Hwang, Wansoo KimConstrained Motion PlanningModular Robotics

    Department of Robotics, Hanyang University, Seoul, Republic of Korea · Department of Robotics, Hanyang University ERICA, Ansan, Republic of Korea

  10. ReVAMP: Vector-Accelerated Motion Planning for Kinematically-Constrained Systems via Reparameterization

    Sep 24, 2026Shrutheesh R. Iyer, Thomas Cohn, Zachary KingstonConstrained Motion PlanningRobotic Manipulation

    Department of Computer Science, Purdue University · Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology

  11. CAMP: Cooperative Arm-Hand Motion Planning in Constrained Spaces

    Sep 24, 2026Ziyuan Wang, Yunlong Shan, Fei Mo +6Constrained Motion PlanningRobot Motion Generation

    Department of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China · School of Advanced Engineering, Great Bay University, Dongguan, Guangdong, China · State Key Laboratory for Multi-target Natural Medicine, China Pharmaceutical University, Nanjing, China +4

  12. Induced Riemannian Metrics for Motion Planning with Constraints

    Sep 22, 2026Phone Thiha Kyaw, Thomas Cohn, Miguel Angel Rogel Garcia +1Constrained Motion PlanningTrajectory Optimization

    Space & Terrestrial Autonomous Robotic Systems (STARS) Laboratory at the University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, Ontario, Canada, M3H 5T6

  13. Minimum Time Trajectories for a Car-Like Mobile Robot Moving with Rigid Wheels Under Non-Sliding Constraints

    Sep 21, 2026Joseph Ben-Asher, Elon Rimon, Leeor RavinaConstrained Motion PlanningTrajectory Optimization

    Dept. of AE, Technion, Israel. · Dept. of ME, Technion, Israel.

  14. Feasibility Distance Fields for Heterogeneous Constraints in Robot Configuration Space

    Sep 21, 2026Xijing Cui, Huayan Pu, Jun Luo +1Constrained Motion PlanningSigned Distance Functions

    First and third authors' affiliation · Second author's affiliation

  15. From Semantic Decisions to Feasible Trajectories: Self-Evolving LLM-Guided Optimal Control for Narrow-Space Parking

    Sep 21, 2026Zhengbao Yao, Yuanfu Luo, Kehan XueConstrained Motion PlanningTrajectory Optimization

    xLean Robotics Co., Ltd.

  16. Mixed-integer flow formulations for motion planning and decision-making of networked multi-agent systems

    Sep 21, 2026Angelo Caregnato-Neto, Paul-Louis Delacour, Raf Van de Plas +2Constrained Motion PlanningMixed-Integer Linear Programming

    Department of Computational Mechanics (DMC), School of Mechanical Engineering (FEM), State University of Campinas (UNICAMP), São Paulo, Brazil · Delft Center for Systems and Control, Delft University of Technology, Delft, Netherlands · Dept. of Biochemistry, Vanderbilt University, Nashville, TN, USA

  17. M3^3P-R1: Reinforcement Learning for Large Language Model Guided Multi-Modal Motion Planning via MIP Code Generation

    Sep 16, 2026Xingpeng Sun, Zherong Pan, Kai Cheng +3Constrained Motion PlanningLarge Language Model-Based Robot Planning

    Purdue University United States · LightSpeed Studios United States

  18. VCTP: Vehicle-Conditioned Terrain Planning for Off-Road Navigation

    Sep 15, 2026Akshay Naik, Ramavarapu S. Sreenivas, Dustin Nottage +1Constrained Motion PlanningOff-Road Robot Navigation

    University of Illinois Urbana-Champaign, Urbana, IL, USA: 1Department of Electrical and Computer Engineering · University of Illinois Urbana-Champaign, Urbana, IL, USA: 2Department of Industrial and Enterprise Systems Engineering · U.S. Army Engineer Research and Development Center, Construction Engineering Research Laboratory, Champaign, IL, USA

  19. Language-Guided Terrain-Adaptive Neural MPC for Autonomous Traversal of Articulated Tracked Robots

    Sep 11, 2026Zhenfeng Gan, Yanbo Chen, Lirong Che +3Constrained Motion PlanningLanguage Model-Based Control

  20. GeoTrussRover: Morphological Computation with Contact-Semantic Control Primitives

    Sep 11, 2026Muyuan Ma, Yi Zhang, Yang Yang +12Constrained Motion PlanningRobot Morphology-Control Co-Design

  21. Planning along Differentiable Charts of Constraint Manifolds with General-Purpose IK Solvers

    Sep 11, 2026Thomas Cohn, Seiji Shaw, Harel Biggie +3Constrained Motion PlanningTrajectory Optimization

    Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA

  22. PccDiffuser: Multi-solution Motion Planning for Continuum Robots

    Sep 9, 2026Ke Qiu, Sifan Chen, Si Wang +3Constrained Motion PlanningDiffusion-Based Planning

    Department of Control Science and Engineering, Zhejiang University, Hangzhou, China

  23. Sampling-based Certified Planning with Graphs of Convex Sets

    Aug 30, 2026Peng Xie, Amr AlanwarConstrained Motion PlanningRobotic Manipulation

    TUM School of Computation, Information and Technology, Department of Computer Engineering, Technical University of Munich, 74076 Heilbronn, Germany

  24. Contact Modes Are Strata: What Geometric Structure Buys in Discrete-Continuous Planning

    Aug 16, 2026Phone Thiha Kyaw, Jonathan KellyConstrained Motion PlanningContact-Rich Robotic Manipulation

    Space and Terrestrial Autonomous Robotic Systems (STARS) Laboratory University of Toronto Institute for Aerospace Studies (UTIAS) Toronto, Ontario M3H 5T6, Canada

  25. Accelerating Optimization over Graphs of Convex Sets via Neural Network Approximations

    Aug 15, 2026Ananya Trivedi, Sarvesh Prajapati, Zhexin Xu +3Constrained Motion PlanningTrajectory Optimization

    Northeastern University, Boston, Massachusetts, USA. · University of Maryland, College Park, Maryland, USA. · Northeastern University

  26. Whole-Body Planning for Humanoids Navigating Confined Spaces via Self-Collision Avoidance References

    Aug 10, 2026Carlos Gonzalez, Luis SentisConstrained Motion PlanningHumanoid Robot Locomotion

    Department of Aerospace Engineering and Engineering Mechanics, The University of Texas at Austin, TX 78712, USA.

  27. Entanglement-Free Trajectory Planning for Tethered Mobile Robots with a Slack Tether

    Aug 10, 2026Gianpietro Battocletti, Dimitris Boskos, Bart De SchutterConstrained Motion PlanningKinodynamic Motion Planning

    Delft Center for Systems and Control, Delft University of Technology, Delft, The Netherlands

  28. Graph-Guided Safe Diffuser: Topological Graph Guidance for Safe Diffusion Planning

    Aug 10, 2026Nakgyu Yang, KwangBin Lee, SooJean HanConstrained Motion PlanningTrajectory Generation

    School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST) Daejeon, Republic of Korea

  29. CoCoNav: Conformal Control for Safe Robot Navigation in Crowds

    Aug 7, 2026Cheng Guo, Mingzhe Ni, Zheng Liang +5Constrained Motion PlanningConformal Prediction

    Department of Computer Science, The University of Manchester, Manchester, UK. · Human-Robot Interfaces and Interaction Laboratory, Italian Institute of Technology, Genoa, Italy. · Genisom AI, Shanghai, China. +3

  30. Search-Aided Joint Agent-Environment Reinforcement Learning for Robust Lifelong Multi-Agent Path Finding with Rotations

    Aug 6, 2026He Jiang, Jingtian Yan, Yulun Zhang +5Constrained Motion PlanningRobust MAPF

    1Carnegie Mellon University · University of Southern California · 3National University of Singapore

  31. GASP: GPU-Accelerated Safe Planner for Real-Time Collision-Aware Motion Generation with Latent Trajectory Sampling

    Aug 5, 2026Colin Merk, Stefanos Charalambous, Peter Dürr +1Constrained Motion PlanningTrajectory Generation

    Sony, Zurich, Switzerland.

  32. SCOPE: Field-of-View-Aware Path Planning in Unknown 3D Environments via Safety-Volume Certification

    Aug 5, 2026Junbin Yuan, Muqing Cao, Yunwoo Lee +2Constrained Motion PlanningSafe Robot Navigation

    Department of Mechanical Engineering at Carnegie Mellon University, Pittsburgh, PA 15213 USA · Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA 15213 USA · Department of Mechanical Engineering, Brigham Young University, Provo, UT 84602 USA

  33. Projection-Retraction MPPI: Exact Constraint-Manifold Control for Manipulators

    Aug 4, 2026Seulchan Lee, Leesai Park, Minhyeong Kang +1Robotic ControlConstrained Motion Planning

    School of Mechanical Engineering, Kyung Hee University, Yongin-si 17104, Republic of Korea · Institutes of Convergence Technology, Suwon-si 16229, Republic of Korea

  34. Accelerating Human-Aware Robot Trajectory Generation via Diffusion and Consistency Distillation

    Aug 4, 2026Byeong-Il Ham, Hyun-Bin Kim, Kyung-Soo KimConstrained Motion PlanningTrajectory Generation

  35. Biconvex Optimization for Smooth Minimum-Time Trajectories around Convex Obstacles

    Aug 3, 2026Peter Werner, Tobia Marcucci, Daniela RusConstrained Motion PlanningTrajectory Optimization

    Massachusetts Institute of Technology Computer Science and Artificial Intelligence Laboratory · University of California Santa Barbara

  36. Complete Motion Planning using Workspace-Fibered Decomposition for nR-Planar Manipulator

    Aug 2, 2026Aayush Rath, Antony ThomasConstrained Motion PlanningHierarchical Planning

    Robotics Research Center, IIIT Hyderabad, Hyderabad 500032, India.

  37. RIT*: Riemannian Informed Trees for Cost-Adaptive Optimal Motion Planning

    Aug 1, 2026Muhayy Ud Din, Ahmed Nadar, Jan Rosell +1Constrained Motion PlanningMotion Planning

    Center for Autonomous Robotic Systems, Khalifa University (KU-CARS) · Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, Barcelona, Spain

  38. Motion Planning for Mobile Manipulators Navigating Doorways via Model Predictive Control

    Jul 31, 2026Kasra Sinaei, Kasun Weerakoon, Christopher Bradley +2Constrained Motion PlanningMobile Robotics

    The Pennsylvania State University, University Park, PA 16802 USA · AlphaZ Inc., Baldwin Park, CA 91706 USA

  39. Multi-Agent Planning with Spatio-Temporal and Topological Constraints using STL-GO

    Jul 29, 2026Sheryl Paul, Vidisha Kudalkar, Anand Balakrishnan +3Constrained Motion PlanningCombinatorial Optimization

    University of Southern California, Los Angeles, CA, USA · University of Texas at Austin, Austin, TX, USA · ETH Zurich, Zurich, Switzerland +1

  40. Risk-Aware Motion Planning with Learned Trajectory Primitives and Probabilistic Safety Assessment

    Jul 29, 2026Marc Kaufeld, Dian Zhuang, Johannes BetzCollision AvoidanceConstrained Motion Planning

    Professorship of Autonomous Vehicle Systems, Technical University of Munich, 85748 Garching, Germany; Munich Institute of Robotics and Machine Intelligence (MIRMI) · School of Engineering and Design, Technical University of Munich, 85748 Garching, Germany

  41. Motion Generation With Environmental Constraints

    Jul 27, 2026Előd Páll, Oliver BrockConstrained Motion PlanningMotion Planning

    Robotics and Biology Laboratory, Technische Universität Berlin, Germany · Science of Intelligence, Research Cluster of Excellence, Berlin, Germany

  42. Model Predictive Planner for UAV Navigation in Non-Convex Air Corridors

    Jul 27, 2026Henrique Silva, Marcelo A. Santos, Guilherme V. RaffoConstrained Motion PlanningTrajectory Generation

    Graduate Program in Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, MG, Brazil · Department of Management, Information and Production Engineering, University of Bergamo, Dalmine, BG, Italy · Department of Electronic Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, MG, Brazil

  43. Actuator-Aware Spatiotemporal Tube Synthesis for Temporal Reach-Avoid-Stay Tasks

    Jul 25, 2026Keshab Patra, K Madhava KrishnaRobot Trajectory TrackingConstrained Motion Planning

    Robotics Research Center, International Institute of Information Technology - Hyderabad Hyderabad, Telangana, India

  44. Conformal Constraint Tightening for Chance-Constrained Motion Planning with Unknown Dynamics

    Jul 24, 2026Shubham Natraj, Bruno Sinopoli, Yiannis KantarosConstrained Motion PlanningSafe Motion Planning

    Department of Electrical and Systems Engineering, Washington University in St. Louis, 1 Brookings Dr, St. Louis, MO 63130, USA · School of Electrical, Computer and Energy Engineering, Arizona State University, 650 E. Tyler Mall, Tempe, AZ 85281, USA

  45. Embodying Multi-Hand Manipulation Policies by Searching the Assignment and Null Spaces

    Jul 24, 2026Yorai Shaoul, Jiaoyang Li, Maxim LikhachevMulti-Robot Motion PlanningConstrained Motion Planning

    The Robotics Institute, Carnegie Mellon University

  46. Stochastic Multi-Objective Kinodynamic Planning Against Adversaries

    Jul 21, 2026Thomas Marshall Vielmetti, Daniel Cherenson, Dimitra PanagouConstrained Motion PlanningKinodynamic Motion Planning

  47. STL-GCS: A Planner-Controller Framework for Signal Temporal Logic via Graphs of Time-varying Convex Sets

    Jul 21, 2026Nicola De Carli, Gregorio Marchesini, Dimos V. DimarogonasRobot Trajectory TrackingConstrained Motion Planning

  48. Pose-Parameterized Motion Planning and CBF-QP Self-Collision Filtering for a Long-Reach Drilling Boom

    Jul 21, 2026Mehdi Heydari Shahna, Tuomo Kivelä, Jouni MattilaConstrained Motion PlanningControl Barrier Functions

    Faculty of Engineering and Natural Sciences, Tampere University, 33720 Tampere, Finland. · Sandvik Mining and Construction Oy, Tampere, Finland.

  49. Manifold-Guided Motion Planning for Tight Assemblies

    Jul 20, 2026Dror Livnat, Michael M. Bilevich, Michal Kleinbort +1Constrained Motion PlanningMotion Planning

    Blavatnik School of Computer Science and Artificial Intelligence, Tel-Aviv University, Israel.

  50. Task-Space Constrained Stochastic Trajectory Optimization for Time-Optimal Forestry Crane Motion Planning

    Jul 20, 2026Marc-Philip Ecker, Christoph Fröhlich, Bernhard Bischof +2Stochastic OptimizationConstrained Motion Planning

    Automation & Control Institute (ACIN), TU Wien, 1040 Vienna, Austria · Center for Vision, Automation & Control, AIT Austrian Institute of Technology GmbH, 1210 Vienna, Austria

  51. Finite-Time Curvature-Constrained Vector Field for Saturation-Free Motion Planning of Nonholonomic Robots

    Jul 20, 2026Zhouru Xiao, Sha Luo, Yang Lu +5Constrained Motion PlanningMobile Robotics

    School of Artificial Intelligence and Robotics, Hunan University. China. · College of Information Science and Engineering, Hunan Normal University, China. · College of Systems Engineering and the State Key Laboratory of Digital Intelligent Modeling and Simulation, National University of Defense Technology, China. +1

  52. Minimum Time Dubins Airplane Paths with Asymmetric Climb Rates

    Jul 17, 2026Jaeyoung Lim, Giuseppe LoiannoAerial RoboticsConstrained Motion Planning

    Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA 94720, USA

  53. A Task-Space Receding Horizon Controller for Fast Collision Avoidance

    Jul 17, 2026Mattia Penzotti, Marco ControzziRobotic ControlConstrained Motion Planning

    Biorobotics Institute and the Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna, Pisa, Italy

  54. Motion Planning with Model-Based Diffusion via Constraint Optimization and Adaptive Scheduling

    Jul 16, 2026Zhilin He, Bowei Li, Jianlin Dou +2Constrained Motion PlanningTrajectory Optimization

    Carnegie Mellon University · University of Pennsylvania

  55. Globalized Constrained Stein Variational Inference for Diverse Feasible Robot Motion Planning

    Jul 14, 2026Jiayun Li, Georgia ChalvatzakiConstrained Motion PlanningConstrained Optimization

    PEARL Lab, Dept. of Computer Science, TU Darmstadt. · Hessian.AI, Darmstadt, Germany. · Robotics Institute Germany (RIG).

  56. Model-Based Diffusion Optimal Control for Multi-Robot Motion Planning

    Jul 14, 2026Zhilin He, Yorai Shaoul, Jiaoyang LiMulti-Robot Motion PlanningConstrained Motion Planning

    Carnegie Mellon University, Pittsburgh, PA, USA

  57. CR-Solver: GPU-Accelerated Kinematics Solver for Tendon-driven Continuum Robots

    Jul 13, 2026Heqing Yang, Yang Yi, Linqing Zhong +2Constrained Motion PlanningRobot Motion Generation

    Beihang University.

  58. D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions

    Jul 12, 2026Erdi Sayar, Ersin Daş, Joel W. Burdick +2Constrained Motion PlanningDiffusion-Based Planning

    Department of Electrical Engineering and Information Technology, Paderborn University, 33098 Paderborn, Germany · Department of Mechanical, Materials, and Aerospace Engineering, Illinois Institute of Technology, Chicago, IL 60616, USA · Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA 91125, USA +1

  59. PIER-Flow: Physics-Informed Efficient Rectified Flow for Real-Time Mobile Robot Navigation

    Jul 11, 2026Shibo Li, Zhongcheng Wang, Jiahe Cao +2Constrained Motion PlanningRobot Policy Learning

    School of Automation, Northwestern Polytechnical University, Xi’an, China · Department of Robotics, Mohamed bin Zayed University of Artificial Intelligence, Abu Dhabi SE45 05, United Arab Emirates

  60. EvoPlan: Evolutionary Neuro-Symbolic Robot Planning with Spatio-Temporal Guarantees

    Jul 7, 2026Bhavya Sai Nukapotula, Samin Moosavi, Haoze Wang +4Constrained Motion PlanningLarge Language Model-Based Robot Planning

    Texas A&M University · Westwood High School