Kinodynamic Motion Planning

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Overview

Kinodynamic motion planning searches for motions that are not only collision-free but also physically executable under a robot’s dynamics and control limits. Common approaches include sampling-based tree planners such as RRT variants, heuristic search and motion lattices, trajectory optimization and model predictive control, and learned models or policies that guide planning. Methods are tested on systems ranging from ground robots and manipulators to drones and multi-robot teams, including cluttered scenes, moving obstacles, and uncertain dynamics. A central challenge is balancing fast, robust planning in high-dimensional settings with guarantees such as safety, completeness, and near-optimality.

Latest papers

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46 papers5 papers in the last four weeks, down 37% on the four weeks before. 0.0% of all new papers.

  1. Continuous-Time Safe Planning and Control for Agile Quadrupeds

    Oct 26, 2026Gage MacLin, Mason Peterson, Camilla Tabasso +4Safe Motion PlanningQuadruped Robot Navigation

    Amazon Fulfillment Technologies & Robotics, Westborough MA, USA. · University of Iowa, Iowa City, IA 52240. · Massachusetts Institute of Technology, Cambridge, MA 02139, USA.

  2. Graphs of Trajectory Bundles for Nonlinear Motion Planning

    Oct 23, 2026Joris Verhagen, Jon Arrizabalaga, Jana Tumova +1Constrained Motion PlanningKinodynamic Motion Planning

    Authors are with the Division of Robotics, Perception, and Learning, KTH Royal Institute of Technology, Stockholm, Sweden · Authors are with the Department of Aeronautics and Astronautics, MIT, Cambridge, MA, USA

  3. KinoUAV: A Benchmark for Safe and Stable UAV Vision-Language Navigation with Kinodynamic Modeling

    Oct 22, 2026Chenyao Yang, Peijin Wang, Yingchao Feng +1Safe Robot NavigationAerial VLN

    the Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100190, China · the University of Chinese Academy of Sciences, Beijing 100190, China · the School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences, Beijing 100190, China +1

  4. Funnel planning and control for manipulators using neural Signed Configuration Distance Functions

    Oct 10, 2026Bernhard Wullt, Christos K. Verginis, Per Mattsson +2Safe Motion PlanningKinodynamic Motion Planning

    ABB Robotics, Sweden · the Division of Signals and Systems, Department of Electrical Engineering, Uppsala University, Uppsala, Sweden · the Division of Systems and Control, Department of Information Technology, Uppsala University, Uppsala, Sweden

  5. Sampling-based Kinodynamic Planning with World Models

    Oct 9, 2026Yitian Gao, Hanlan Yang, Zachary KingstonLatent-Space PlanningMotion Planning

    Department of Computer Science, Purdue University

  6. Denoising Multi-Robot Trajectories

    Sep 28, 2026Yuhao Zhang, Keisuke Okumura, Ajay Shankar +1Multi-Robot Motion PlanningKinodynamic Motion Planning

    Department of Computer Science and Technology, University of Cambridge, U.K. · National Institute of Advanced Industrial Science and Technology (AIST), Japan

  7. Path Planning with Motion Primitives in Dynamic Environments: SIPP on Lattices

    Sep 25, 2026Marat AgranovskiySafe Interval Path PlanningMotion Planning

    Markov Lab, Saint-Petersburg University.

  8. ST-pRRTC: Parallel Space-Time RRT-C with Adaptive Goal-Time Forests

    Sep 24, 2026Duo Zhang, Jintong Li, Junshan Huang +1Motion PlanningSampling-Based Motion Planning

    Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA

  9. Rapidly-Iterating Grid-Based Near-Optimal Kinodynamic Motion Planning

    Sep 19, 2026Michael Moncton, Eric FrewKinodynamic Motion PlanningMotion Planning

  10. Becoming a Fruit Ninja: Real-Time Probabilistic Kinodynamic Planning for Manipulator Projectile Interception

    Sep 18, 2026Lucas Chen, Austin Garrett, Andrew Niu +1Dynamic Robotic ManipulationKinodynamic Motion Planning

    Department of Computer Science, Purdue University, West Lafayette, IN, USA

  11. MetaPusher: Meta Learning and Planning for Nonprehensile Manipulation of Unseen Objects with Rapid Online Adaption

    Sep 17, 2026Donghyung Lee, Seyedali Golestaneh, Jaskrit Singh +3Non-Prehensile Robotic ManipulationRobotic Manipulation

  12. DynoFluxBench: Benchmarking Kinodynamic Space-Time Planners in Dynamic Environments

    Sep 16, 2026Franz Queißner, Andreas Orthey, Wolfgang HönigKinodynamic Motion PlanningMotion Planning

    TU Berlin, Germany

  13. Learning-Based Dynamic Obstacle Avoidance for a UAV Using Only Three Range Sensors

    Sep 13, 2026Mohammad Reza Ranjbar Divkoti, A. Pedro AguiarRobot NavigationUAV Navigation

    SYSTEC-ARISE Research Center for Systems and Technologies, Faculty of Engineering, University of Porto, 4200-465, Porto, Portugal.

  14. Achieving Asymptotic Near-Optimality Without δδ-Similarity

    Sep 3, 2026Michael Moncton, Eric FrewSampling-Based Motion PlanningKinodynamic Motion Planning

  15. Hydra: A Navigation World Action Model with Discrete Latent Planning and Continuous Flow-Matching Execution

    Aug 29, 2026Mohammad Nazeri, Alexandyr Card, Samira Huber +6Kinodynamic Motion PlanningWorld Models for Robotics

    George Mason University · Kiel University · Ludwig Maximilian University Munich +1

  16. Dispersive Forward Tree Search for Optimal Control: Coverage, Complexity, and Computation

    Aug 26, 2026Shashank A. Deshpande, Jonathan P. HowDifferential FlatnessKinodynamic Motion Planning

    Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA

  17. Trusted Polytopic Action Sets for Fast Planning in Underactuated Systems

    Aug 25, 2026Akshay Jaitly, Siavash FarzanMotion PlanningKinodynamic Motion Planning

    Onyx Robotics, Boston, MA 02210, USA · Department of Electrical Engineering, California Polytechnic State University, San Luis Obispo, CA 93407, USA

  18. Risk-Aware Kinodynamic Motion Planning Under Uncertainty For Safe Navigation on Planetary Environments

    Aug 11, 2026Sachin Sunil Kelkar, Tanmay Dokania, Yashwanth Kumar NakkaSampling-Based Motion PlanningKinodynamic Motion Planning

    Daniel Guggenheim School of Aerospace Engineering at the Georgia Institute of Technology, Atlanta, GA, 30332 USA.

  19. 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.

  20. 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

  21. Stochastic Multi-Objective Kinodynamic Planning Against Adversaries

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

    Department of Robotics, University of Michigan, Ann Arbor, MI 48109, USA · Department of Robotics and Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109, USA

  22. FARO: Feasibility-Aware Robot Motion Optimization

    Jul 20, 2026Michal Ciebielski, Shafeef Omar, Aaron Johnson +1Humanoid Loco-ManipulationKinodynamic Motion Planning

    Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Germany. · Institute for Advanced Study, Technical University of Munich, Garching, Germany. · Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA.

  23. 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

  24. Fast Asymptotically Optimal Kinodynamic Planning via Vectorization

    Jul 4, 2026Yitian Gao, Andrew Lu, Zachary KingstonConstrained Motion PlanningKinodynamic Motion Planning

    Department of Computer Science, Purdue University

  25. BOWConnect: Parallel Bayesian Optimization over Windows with Learned Local Cost Maps for Sample-Efficient Kinodynamic Motion Planning

    Jun 25, 2026Sourav Raxit, Abdullah Al Redwan Newaz, Jose Fuentes +1Constrained Motion PlanningKinodynamic Motion Planning

    Department of Computer Science, Louisiana State University New Orleans, New Orleans, LA 70148, USA · Knight Foundation School of Computing and Information Sciences, Florida International University, Miami, FL 33199, USA

  26. Coupled Routing and Configuration Optimization for Multi-Viewpoint Robotic Inspection

    Jun 17, 2026Minh Nhat Vu, Khang Nguyen, Vu Trung Tran +1Constrained Motion PlanningTrajectory Optimization

    Center for Artificial Intelligence Research (CAIR), VinUniversity, Hanoi, Vietnam · VinRobotics JSC, Hanoi, Vietnam · Division of Computer and Mathematical Sciences, Mohamed bin Zayed University of Artificial Intelligence (MBZUAI), Abu Dhabi, UAE.

  27. KinematicRL: A Sim-to-Real Reinforcement Learning Framework For Social Navigation With Kinodynamic Feasibility

    Jun 10, 2026Zhiming Xu, Haodong Yang, Chengju Liu +2Kinodynamic Motion PlanningSim-to-Real Transfer

    School of Computer Science and Technology, Tongji University, Shanghai 201804, China · Department of Electronics and Information Engineering, Tongji University, Shanghai 201804, China · Shanghai Institute of Intelligent Science and Technology, Tongji University, Shanghai 201210, China

  28. Bidirectional Incremental Generalized Hybrid A*

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

  29. AURA: Asymptotically Optimal Uncertainty-Robust Replanning Algorithm for Kinodynamic Systems

    May 26, 2026Seyedali Golestaneh, Zhuoyun Zhong, Donghyung Lee +1Robot Trajectory TrackingKinodynamic Motion Planning

    Department of Robotics Engineering, Worcester Polytechnic Institute (WPI), Worcester, MA 01609, USA

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

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

    Laborat´orio de Engenharia de Sistemas e Rob´otica, Universidade Federal da Para´ıba (UFPB), Jo˜ao Pessoa, Para´ıba, 58055-000, Brazil · School of Computer Science, University of Lincoln, Lincoln, United Kingdom