Constrained Motion Planning

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  1. Manifold-Constrained MPPI: Real-Time Sampling-Based Control for Nonlinear Equality-Constrained Robotic Systems

    May 24, 2026Seulchan Lee, Sanghyun KimRobotic ControlConstrained Motion Planning

  2. Signal Temporal Logic Motion Planning via Graphs of Convex Sets

    May 22, 2026Yu Chen, Ancheng Hou, Mingyang Feng +2Constrained Motion PlanningTrajectory Generation

  3. Steered Generation via Gradient-Based Optimization on Sparse Query Features

    May 21, 2026Sumanta Bhattacharyya, Pedram RooshenasConstrained Motion PlanningLanguage Model Steering

  4. Verified Task-Space Motion Planning Under Joint-Space Constraints

    May 21, 2026Hanjiang Hu, Changliu Liu, Yebin WangConstrained Motion PlanningSafe Motion Planning

  5. Safe and Steerable Geometric Motion Policies for Robotic Dexterous Manipulation

    May 20, 2026Albert Wu, Riccardo Bonalli, Thomas Lew +1Robotic ControlConstrained Motion Planning

  6. A Terrain-Adaptive epsilon-Constraint MPC for Uneven Terrain Kinodynamic Planning

    May 20, 2026Otobong Jerome, Geesara Kalathunga, Tiago NascimentoConstrained Motion PlanningKinodynamic Motion Planning

  7. KIO-planner: Attention-Guided Single-Stage Motion Planning with Dual Mapping for UAV Navigation

    May 19, 2026Dexing Yao, Haochen Li, Junhao Wei +11Constrained Motion PlanningKinodynamic Motion Planning

  8. Probabilistic Recursively Feasible Motion Planning Under Uncertain Environments

    May 18, 2026Hyeontae Sung, Hyeongchan Ham, Junyoung Park +2Constrained Motion PlanningModel Predictive Control

  9. NORM-Nav: Zero-Shot Mobile Robot Navigation with Natural Language Behavioral Constraints

    May 16, 2026Dongjie Huo, Junhui Wang, Chao Gao +3Constrained Motion PlanningTrajectory Generation

  10. Constrained MPC-Based Motion Planning for Morphing Quadrotors in Ultra-Narrow Passages under Limited Perception

    May 15, 2026Harsh Modi, Xiao Liang, Minghui ZhengAerial RoboticsConstrained Motion Planning

  11. From Gridworlds to Warehouses: Adapting Lightweight One-shot Multi-Agent Pathfinding for AGVs

    May 15, 2026Hiroki Nagai, Keisuke OkumuraMulti-Robot Motion PlanningConstrained Motion Planning

  12. TinySDP: Real Time Semidefinite Optimization for Certifiable and Agile Edge Robotics

    May 13, 2026Ishaan Mahajan, Jon Arrizabalaga, Andrea Grillo +4Semidefinite ProgrammingConstrained Motion Planning

  13. Distance-Constrained Unlabeled Multi-Agent Pathfinding

    May 12, 2026Takahiro Suzuki, Yuma Tamura, Keisuke OkumuraConstrained Motion PlanningMulti-Agent Coordination

  14. IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization

    May 9, 2026Jiayun Li, Dejian Gong, Georgia ChalvatzakiConstrained Motion PlanningTrajectory Optimization

  15. Feasibility-aware Hybrid Control for Motion Planning under Signal Temporal Logics

    May 5, 2026Panagiotis Rousseas, Dimos V. DimarogonasConstrained Motion PlanningSignal Temporal Logic

  16. Visibility-Aware Mobile Grasping in Dynamic Environments

    May 4, 2026Tianrun Hu, Anxing Xiao, David Hsu +1Active PerceptionConstrained Motion Planning

  17. Optimized and kinematically feasible multi-agent motion planning

    May 3, 2026Anja Hellander, Kristoffer Bergman, Daniel AxehillConstrained Motion PlanningTrajectory Optimization

  18. Safe Navigation using Neural Radiance Fields via Reachable Sets

    Apr 29, 2026Omanshu Thapliyal, Malarvizhi Sankaranarayanasamy, Ravigopal VennelakantiConstrained Motion PlanningSafe Robot Navigation

  19. Navigating the Clutter: Waypoint-Based Bi-Level Planning for Multi-Robot Systems

    Apr 22, 2026Jiabao Ji, Yongchao Chen, Yang Zhang +4RL for RoboticsMulti-Robot Motion Planning

  20. DAG-STL: A Hierarchical Framework for Zero-Shot Trajectory Planning under Signal Temporal Logic Specifications

    Apr 20, 2026Ruijia Liu, Ancheng Hou, Xiao Yu +1Constrained Motion PlanningTrajectory Generation

  21. Planning Smooth and Safe Control Laws for a Unicycle Robot Among Obstacles

    Apr 19, 2026Aref Amiri, Basak Sakcak, Steven M. LaValleRobotic ControlConstrained Motion Planning

  22. Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments

    Apr 17, 2026Aedan Mangan, Kehan Long, Ki Myung Brian Lee +3Constrained Motion PlanningContinuum Robot Control

  23. Goal-Conditioned Neural ODEs with Guaranteed Safety and Stability for Learning-Based All-Pairs Motion Planning

    Apr 3, 2026Dechuan Liu, Ruigang Wang, Ian R. ManchesterConstrained Motion PlanningSafe Motion Planning

  24. Ultrafast Sampling-based Kinodynamic Planning via Differential Flatness

    Mar 17, 2026Thai Duong, Clayton W. Ramsey, Zachary Kingston +2Constrained Motion PlanningKinodynamic Motion Planning

  25. PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Planner

    Mar 11, 2026Eugene Ku, Yiwei LyuConstrained Motion PlanningTrajectory Generation

  26. Online Generation of Collision-Free Trajectories in Dynamic Environments

    Feb 28, 2026Nermin Covic, Bakir LacevicConstrained Motion PlanningTrajectory Optimization

  27. Kino-PAX+^+: Near-Optimal Massively Parallel Kinodynamic Sampling-based Motion Planner

    Feb 2, 2026Nicolas Perrault, Qi Heng Ho, Morteza LahijanianConstrained Motion PlanningKinodynamic Motion Planning

  28. Continuous-Space Roadmap Generation for Mobile Robot Fleets with Distance Constraints and Geometry-Aware Discretization

    Nov 10, 2025Marvin Rüdt, Constantin Enke, Kai FurmansMulti-Robot Motion PlanningConstrained Motion Planning

  29. Manifold-constrained Hamilton-Jacobi Reachability Learning for Decentralized Multi-Agent Motion Planning

    Nov 5, 2025Qingyi Chen, Ruiqi Ni, Junyoung Kim +1Multi-Robot Motion PlanningConstrained Motion Planning