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. 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.

  2. 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

  3. 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

  4. 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

  5. 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

  6. 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.

  7. 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

  8. 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

  9. 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

  10. 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

  11. 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

  12. 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

  13. 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

  14. 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

  15. 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

  16. Stochastic Multi-Objective Kinodynamic Planning Against Adversaries

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

  17. 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

  18. 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.

  19. 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.

  20. 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

  21. 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

  22. 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

  23. 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

  24. 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

  25. 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).

  26. 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

  27. 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.

  28. 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

  29. 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

  30. 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