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. 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

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

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

  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