Graph-Based Planning

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10 papers in the last four weeks, up 233% on the four weeks before. 0.1% of all new papers.

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  1. The Cost of Classical Multi-Agent Path Finding

    Oct 7, 2026Alvin Combrink, Sabino Francesco Roselli, Martin FabianMulti-Agent Path FindingGraph-Based Planning

    Chalmers University of Technology Gothenburg, Sweden

  2. ChronoGraph: Functional 4D Scene Graphs with Vision-Language Models for Interaction Understanding and Grounded Planning

    Sep 30, 2026Chenyangguang Zhang, Malgorzata Gwiazda, Guanlong Jiao +5Graph-Based Planning4D Scene Understanding

    ETH Zurich · Technical University of Munich · University of British Columbia +3

  3. DAGent: Evaluate-then-Grow Planning for Deep Research Agents

    Sep 30, 2026Hanwen Liu, Yuanfu Sun, Qiaoyu TanMulti-Agent LLM SystemsDeep Research Agents

    New York University · New York University Shanghai

  4. Graph World Models for Constrained Epidemic Policy Planning

    Sep 28, 2026Yiqi Su, Rashed Shelim, Lingyi Wang +2Action-Conditioned World ModelsGraph-Based Planning

    Department of Computer Science, Virginia Tech, Alexandria, VA 22305, USA · Department of Electrical and Computer Engineering, Virginia Tech, Alexandria, VA 22305, USA

  5. GuardPIBT: Counterfactually Gated Neural Guidance for Ultra-Large-Scale 3D Multi-Agent Path Finding

    Sep 28, 2026Yuan Zhou, Zhenyu Hou, Guangtong Xu +4Graph-Based PlanningMulti-Agent Path Finding

    Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China. · Differential Robotics Technology Company, Hangzhou 311121, China. · Huzhou Institute, Zhejiang University, Huzhou 313000, China. +3

  6. A Topological Representation with Object-Path Graphs for Open-Vocabulary Instance Navigation

    Sep 21, 2026Linwei Zheng, Daojie Peng, Bingtao Wang +2Robot NavigationVision-Language Navigation

    The Hong Kong University of Science and Technology (Guangzhou) · The Hong Kong University of Science and Technology

  7. HOPHY: A Hierarchical Hypergraph Representation for Off-Road Path and Mission Planning

    Sep 17, 2026Pranay Meshram, Charuvahan Adhivarahan, Prithvi Poddar +4Hierarchical PlanningGraph-Based Planning

    Department of Computer Science and Engineering, University at Buffalo, NY 14260, USA. · Department of Mechanical and Aerospace Engineering, University at Buffalo, NY 14260, USA.

  8. Customizable and Jointly Optimized Route Planning: A Deep Architecture Enabling Differentiable Shortest-Path Search

    Sep 17, 2026Rui Zhao, Chao Chen, Longfei Xu +4Graph-Based PlanningDifferentiable Optimization

    Alibaba Group Beijing, China · Alibaba Group Hangzhou, China

  9. Graph-Based Stochastic Power-UCT: Monte-Carlo Graph Search with Power Mean Estimation

    Sep 17, 2026Tung Tran, Viet Bao Mai, Hoang Ta +1Markov Decision ProcessesMonte Carlo Tree Search

    School of ICT Hanoi University of Science and Technology Hanoi, Vietnam

  10. GPEvac: GNN-Based PPO for Adaptive Evacuation Routing During Shooting Events

    Sep 14, 2026Daniel Perkins, Subhadeep ChakrabortyGraph Neural NetworksDisaster Response

    The Bredesen Center for Interdisciplinary Research and Graduate Education · Department of Mechanical and Aerospace Engineering, University of Tennessee

  11. An Information-Space Perspective to Scene Graph Sufficiency for Robotic Task Planning

    Sep 14, 2026Başak Sakçak, Francesco VerdojaState AbstractionRobot Task Planning

    Dept. of Advanced Computing Sciences, Maastricht University, the Netherlands · School of Electrical Engineering, Aalto University, Finland

  12. Connectivity-Aware Graph Extension for Decentralized Multi-Robot Exploration

    Sep 1, 2026Béatrice Garcia Cegarra, Elena Vanneaux, Quentin Picard +1Multi-Robot ExplorationMulti-Robot Coordination

    ⋆Pˆole recherche, AMIAD, Palaiseau, France · †UI2S, ENSTA, IP Paris, Palaiseau, France

  13. 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

  14. 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

  15. GraphThink: Graph-Enhanced LLM Thinking for Long-Horizon Embodied Task Planning

    Aug 8, 2026Chen Li, Sijie Cheng, Yuelin Zhang +4Large Language Model-Based Robot PlanningRobot Task Planning

    Gaoling School of Artificial Intelligence, Renmin University of China, Beijing, China · Beijing Key Laboratory of Research on Large Models and Intelligent Governance, Beijing, China · Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China +3

  16. Project2Task: Graph-Guided Project-Level Planning for Autonomous Research

    Aug 5, 2026Huirui Xu, Runtao Xu, Shuo Ren +1AI Agents for Scientific DiscoveryGraph-Based Planning

    Institute of Automation, Chinese Academy of Sciences · School of Artificial Intelligence, University of Chinese Academy of Sciences · School of Future Technology, University of Chinese Academy of Sciences +1

  17. 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

  18. HyperAgent: Planning and Acting over Tool-Schema Hypergraphs for Tool-Use LLM Agents

    Jul 31, 2026Zian Zhai, Xingyu Tan, Gaowang Zou +2LLM Tool UseGraph-Based Planning

    University of New South Wales

  19. Key-Interval A*: Accelerating Grid Pathfinding via Structural Abstraction

    Jul 25, 2026Taiquan SuiGraph-Based Planning

    Department of Computer Science and Engineering, Chalmers University of Technology, Gothenburg, Sweden

  20. A BIM-enabled, Agent-based Discrete-event Simulation Platform for Robotic Studies: A Method based on Graph Theory

    Jul 18, 2026Ping Xu, Xinghua GaoRobotics SimulationRobot Navigation

    Myers-Lawson School of Construction, Virginia Tech, Blacksburg, 24060, United States. · Myers-Lawson School of Construction, Virginia Tech, 320J Hitt Hall, Blacksburg, 24060, United States

  21. RAVEN: Reinforcement-Adaptive Visibility-Graph Planning for Robust Humanoid Navigation with Collision-Free MPC

    Jul 17, 2026Ruochen Hou, Shiqi Wang, Beom Jun Kim +3Reinforcement LearningRobot Navigation

    Robotics and Mechanisms Laboratory (RoMeLa), Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, CA 90095, USA.

  22. TopoAgent: A Self-Evolving Topological Agent for Multimodal Scientific Reasoning

    Jul 16, 2026Mingze Xu, Yinghui Li, Jiayi Kuang +5AI Agents for Scientific DiscoveryMultimodal Reasoning

    Tsinghua University · Sun Yat-sen University · 3Tencent

  23. A Multi-Agent Framework for Zero-Dimensional Reduced-Order Model Planning

    Jul 13, 2026Bingteng Sun, Hao Yin, Yiling Chen +9Combinatorial OptimizationReduced-Order Modeling

    Advanced Gas Turbine Laboratory, Institute of Engineering Thermophysics, Chinese Academy of Sciences, Beijing, 100190, China. · National Key Laboratory of Science and Technology on Advanced Light-duty Gas-turbine, Beijing, 100190, China. · School of Computer Science and Technology, Shandong University, 72 Binhai Road, Qingdao, 266237, Shandong Province, China. +3

  24. GATS: Graph-Augmented Tree Search with Layered World Models for Efficient Agent Planning

    Jul 9, 2026Maureese Williams, Dymitr NowickiTree SearchWorld Model-Based Planning

    Institute for Cybernetics of NAS of Ukraine

  25. Offline Nash Solvers Meet Online Tree Search in Multi-Agent Games on Graphs

    Jul 9, 2026Mukesh Kumar, Yue Guan, Panagiotis TsiotrasNash EquilibriumTree Search

    School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA

  26. GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Tasks

    Jul 6, 2026Kaiyuan Chen, Shuangyu Xie, Letian Fu +21Robot Policy LearningGraph-Based Planning

    University of California, Berkeley · Carnegie Mellon University · Bosch +1

  27. Graph Sparse Sampling: Breaking the Curse of the Horizon in Continuous MDP Planning

    Jul 6, 2026Idan Lev-Yehudi, Vadim IndelmanAdaptive SamplingGraph-Based Planning

    Technion Autonomous Systems Program (TASP), Technion – Israel Institute of Technology · Stephen B. Klein Faculty of Aerospace Engineering, Technion – Israel Institute of Technology · Faculty of Data and Decision Sciences, Technion – Israel Institute of Technology

  28. GRASP: Graph-Reasoning Aided Survey Planning for High-Fidelity Related Work Generation

    Jul 4, 2026Haoming Li, Jessica OuyangGraph-Based Planning

    Department of Computer Science University of Texas at Dallas Richardson, TX 75080

  29. Atomic Task Graph: A Unified Framework for Agentic Planning and Execution

    Jul 2, 2026Yue Zhang, Sihan Chen, Ziwen Huang +3Graph-Based PlanningLLM Agent Planning

    South China University of Technology · Tsinghua Shenzhen International Graduate School, Tsinghua University

  30. Search-Based Spatiotemporal and Multi-Robot Motion Planning on Graphs of Space-Time Convex Sets

    Jul 1, 2026Jingtao Tang, Zining Mao, Lufan Yang +1Multi-Robot Motion PlanningConstrained Motion Planning

    Simon Fraser University, Canada

  31. Optimal any-angle path planning in static and dynamic environments

    Jun 30, 2026Yiyuan Zou, Clark BorstGraph-Based PlanningMotion Planning

    Control and Simulation, Faculty of Aerospace Engineering, Delft University of Technology, Delft, The Netherlands

  32. MOAR Planner: Multi-Objective and Adaptive Risk-Aware Path Planning for Infrastructure Inspection with a UAV

    Jun 29, 2026Louis Petit, Alexis Lussier DesbiensUAV NavigationGraph-Based Planning

    the Createk Design Lab, University of Sherbrooke, Sherbrooke, J1K 2R1, Canada

  33. CORE Planner: Contextual-memory Oriented Reinforcement-learning in Unknown Environments for Robot Navigation

    Jun 28, 2026Jintao Kong, Zhihao Zhang, Weihuang Chen +4Reinforcement LearningRobot Navigation

    State Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University

  34. Understanding Rollout Error in Graph World Models

    Jun 26, 2026Xinyuan Song, Zekun CaiWorld Model LearningWorld Models

    Emory University, Atlanta, GA, USA · The University of Tokyo, Tokyo, Japan · LocationMind, Tokyo, Japan

  35. LLM-Aided A* Search in Non-Geometric Network Graphs

    Jun 22, 2026Nouf Alabbasi, Esraa Ghourab, Omar AlhusseinTree SearchGraph-Based Planning

    KU 6G Research Centre, Department of Computer Science, Khalifa University, Abu Dhabi, UAE

  36. MapReason-OSM: Can Vision-Language Models Make Graph-Verifiable Mobility Decisions from Street Maps ?

    Jun 21, 2026Srinivas Venkatanarayanan, Clement Pakkam IsaacVLM EvaluationSpatial Reasoning Benchmarks

    NVIDIA · University of Central Florida · University of South Florida

  37. QueryWeaver: Reliable Multi-Tool Query Execution Planning via LLM-Based Graph Generation

    Jun 6, 2026Aishwarya Chakravarthy, Vidhi Kulkarni, Duen Horng ChauTool-Augmented Language Model AgentsTool-Use Planning

    School of Computational Science and Engineering, Georgia Institute of Technology, Atlanta, GA, USA.

  38. Beyond Prompt-Based Planning: MCP-Native Graph Planning-based Biomedical Agent System

    Jun 3, 2026Zhangtianyi Chen, Florensia Widjaja, Wufei Dai +3Model Context ProtocolGraph-Based Planning

    1The Chinese University of Hong Kong, Shenzhen

  39. OSCAR: Obstacle Survival Curves for Adaptive Robot Navigation

    May 31, 2026Hshmat Sahak, Aoran Jiao, Nicholas Rhinehart +1Robot NavigationGraph-Based Planning

    University of Toronto, Canada

  40. Bidirectional Incremental Generalized Hybrid A*

    May 28, 2026Sidharth Talia, Oren Salzman, Siddhartha SrinivasaKinodynamic Motion PlanningTree Search

  41. UI-KOBE: Knowledge-Oriented Behavior Exploration for Lightweight Graph-Guided GUI Agents

    May 28, 2026Yuxiang Chai, Han Xiao, Xinyu Fu +3Mobile GUI AutomationGUI Agents

    1CUHK MMLab · 2Huawei Research · 3Shenzhen Loop Area Institute +1

  42. Multi-Floor Exploration for Ground Robots via an Incremental Reachable Graph and Structural Priors

    May 22, 2026Zhiwen Zhu, Jiaqi Chen, Xiangyi Huang +2Simultaneous Localization and MappingRobot Navigation

  43. Graph Neural Planning and Predictive Control for Multi-Robot Communication-Constrained Unlabeled Motion Planning

    May 19, 2026Manohari Goarin, Yang Zhou, Giuseppe LoiannoMulti-Robot Motion PlanningNonlinear MPC

    New York University, NY 10012, USA · University of California Berkeley, Department of Electrical Engineering and Computer Sciences, Berkeley, CA 94720, USA

  44. Planner-Admissible Graph-PDE Value Extensions for Sparse Goal-Conditioned Planning

    May 18, 2026Shiheng ZhangGraph-Based Planning

    Department of Applied Mathematics, University of Washington

  45. Virtues of Ordered Chaos: Planning with Topple Actions in Tabletop Stack Rearrangement

    May 18, 2026Hao Lu, Rahul ShomeNon-Prehensile ManipulationRobot Task Planning

    School of Computing at the Australian National University, Canberra, AU

  46. GraphMind: From Operational Traces to Self-Evolving Workflow Automation

    May 17, 2026Yiwen Zhu, Joyce Cahoon, Anna Pavlenko +13Multi-Agent OrchestrationWorkflow Automation

    Microsoft, USA · University of Illinois · *Work done during an internship at Microsoft. +1

  47. EUPHORIA: Efficient Universal Planning via Hybrid Optimization for Robust Industrial Robotic Assembly

    May 15, 2026Shih-Yu Lai, Chia-Ching Yen, Yang-Ting Shen +3Robotic ConstructionMeta-Learning

    National Taiwan University · MoonShine Animation Studio · National Cheng Kung University +2

  48. Privacy Preserving Multi Agent Path Finding

    May 13, 2026Rotem Lev Lehman, Roni Stern, Guy ShaniGraph-Based PlanningMulti-Agent Planning

    Ben Gurion University of the Negev · Be’er Sheva, Israel

  49. SPIN: Structural LLM Planning via Iterative Navigation for Industrial Tasks

    May 13, 2026Yusuke Ozaki, Dhaval PatelLLM Agent Workflow OptimizationTool-Use Planning

    University at Albany · Kwansei Gakuin University · IBM, New York

  50. Decoupled Planning for Multiple Omega-Regular Objectives

    May 13, 2026Guy Avni, Thomas A. Henzinger, Kaushik Mallik +2Multi-Agent CoordinationGraph-Based Planning

    Department of Computer Science, University of Haifa, Israel · Institute of Science and Technology Austria, Klosterneuberg, Austria · IMDEA Software Institute, Spain +2

  51. From Reaction to Anticipation: Proactive Failure Recovery through Agentic Task Graph for Robotic Manipulation

    May 12, 2026Sheng Xu, Ruixing Jin, Huayi Zhou +6Long-Horizon Robotic ManipulationBimanual Robotic Manipulation

    School of Data Science, The Chinese University of Hong Kong, Shenzhen · DexForce Technology, 3Shenzhen Loop Area Institute.

  52. GRAFT: Graph-Tokenized LLMs for Tool Planning

    May 12, 2026Xinyi Gao, Xinyu Ren, Junliang Yu +3Tool-Use PlanningLanguage Modeling

    The University of Queensland · Griffith University

  53. AoI-Aware Multi-Robot Sensing and Transport on Connected Graphs

    May 4, 2026John TadrousMulti-Robot SystemsAge of Information

    Electrical and Computer Engineering Department, Gonzaga University, WA 99258

  54. Optimal UGV-UAV Cooperative Partitioning and Inspection of Shortest Paths

    Apr 28, 2026Ninh Nguyen, Srinivas AkellaCompetitive AnalysisUAV Navigation

  55. An Efficient Beam Search Algorithm for Active Perception in Mobile Robotics

    Apr 25, 2026Kaixian Qu, Han Wang, Victor Klemm +2Active PerceptionMobile Robotics

    Robotic Systems Lab, ETH Zurich

  56. CodeGraphVLP: Code-as-Planner Meets Semantic-Graph State for Non-Markovian Vision-Language-Action Models

    Apr 24, 2026Khoa Vo, Sieu Tran, Taisei Hanyu +8Long-Horizon Robotic ManipulationVision-Language-Action Models

    University of Arkansas, Fayetteville, AR, USA. · Max Planck Research School for Intelligent Systems and the University of Stuttgart, Stuttgart, Germany. · Center of AI Research, VinUniversity, VietNam. +2

  57. Planning Beyond Text: Graph-based Reasoning for Complex Narrative Generation

    Apr 23, 2026Hanwen Gu, Chao Guo, Junle Wang +2LLM PlanningGraph-Based Planning

    Institute of Automation, Chinese Academy of Sciences · Tencent Turing Lab

  58. A Hamilton-Jacobi Reachability-Guided Search Framework for Efficient and Safe Indoor Planar Robot Navigation

    Apr 20, 2026Hanyang Hu, Cameron Siu, Mo ChenReachability AnalysisRobot Navigation

    Simon Fraser University, Burnaby, BC V5A 1S6, Canada

  59. Complete Cyclic Subtask Graphs for Tool-Using LLM Agents: Flexibility, Cost, and Bottlenecks in Multi-Agent Workflows

    Apr 17, 2026Luay Gharzeddine, Samer SaabMulti-Agent CoordinationMulti-Agent Orchestration

    1Dept of Computer Science, Lebanese American University. · 2*Dept of Electrical and Computer Engineering, Lebanese American University.

  60. Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios

    Apr 16, 2026Carlos S. Sepúlveda, Gonzalo A. RuzRoboticsGraph-Based Planning

    Facultad de Ingeniería y Ciencias, Universidad Adolfo Ibáñez, Santiago, Chile · Millennium Nucleus for Social Data Science (SODAS) · Millennium Nucleus in Data Science for Plant Resilience (PhytoLearning)