Obstacle Avoidance

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28 papers in the last four weeks, up 833% on the four weeks before. 0.3% of all new papers.

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  1. LiDARFlow: Real-Time Panel-Based MAV Guidance in Unknown Environments

    Oct 1, 2026João Machado, Zeynep Bilgin, Matthieu Verdoucq +1Unmanned Aerial VehiclesObstacle Avoidance

    ENAC-LAB · ENAC

  2. DODGER: Safety-Guided Reinforcement Learning for Robot Navigation Among Dynamic Obstacles

    Sep 30, 2026Sanghyuk Park, Kwanwoo Lee, Taekyung Kim +2Obstacle AvoidanceRobot Navigation

    Department of Intelligence and Information, Seoul National University, Republic of Korea · Department of Robotics, University of Michigan, Ann Arbor, MI, USA · Department of Mechanical Engineering, Yonsei University, Republic of Korea +1

  3. Adversarially Robust Geometric Safety Certificates for Nonholonomic Robots Against Maneuvering Obstacles

    Sep 29, 2026Chandan Kumar Sah, Bazeela Banday, Jishnu KeshavanControl Barrier FunctionsObstacle Avoidance

    Department of Mechanical Engineering, Indian Institute of Science, Bangalore, Karnataka 560012, India

  4. Distilling Privileged Control Barrier Functions into RGB-Only Safety Filters for Dynamic Visual Navigation

    Sep 29, 2026Seungyeon Yoo, Gawon Lee, Seungwoo Jung +2Obstacle AvoidanceControl Barrier Functions

    Department of Aerospace Engineering, Seoul National University, Seoul, Republic of Korea

  5. Losing the name before the box: measuring and repairing what narrow fine-tuning costs a detector outside its deployment vocabulary

    Sep 29, 2026Trung Minh Bui, Jongsul Moon, YoungOuk Kim +2Detection PerformanceIn-Domain Accuracy

    Intelligent Robotics Research Center, Korea Electronics Technology Institute, Seongnam, 13449, Republic of Korea.

  6. Zero-Shot Reactive Obstacle Avoidance for Generative Robot Policies

    Sep 28, 2026Weihang Guo, Lydia E. KavrakiObstacle AvoidanceRobot Policies

    Department of Computer Science, Rice University, Houston, TX, USA · Ken Kennedy Institute at Rice University

  7. TriO: Tri-Modal Unsupervised Occupancy World Model for Anything Perception

    Sep 25, 2026Quinlan Sykora, Sourav Biswas, Christopher Diehl +33D Semantic Occupancy Prediction3D Object Detection

    Waabi · University of Toronto

  8. UCON: Uncertainty-aware Navigation with Historical Re-association in Dynamic Environments

    Sep 24, 2026Bing Sun, Yue Lin, Yongsheng Yuan +3Obstacle AvoidanceDynamic Environments

    All authors are with Dalian University of Technology, Dalian 116024.China.

  9. OA-MPPI: Occlusion-Aware Model Predictive Path Integral Control for UAV Flight

    Sep 23, 2026Vittorio Palladino, Teaya Yang, Ruiqi Zhang +1Model Predictive Path IntegralUnmanned Aerial Vehicles

    High Performance Robotics Laboratory, Department of Mechanical Engineering, University of California, Berkeley, CA 94720, United States

  10. Safety-Constrained Model Predictive Control for an Omnidirectional Walking Assistive Robot Using Control Barrier Function

    Sep 22, 2026Andrea Fortuna, Marta Lorenzini, Elisa Motta +3Control Barrier FunctionsModel Predictive Control

    Human-Robot Interfaces and Interaction Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy · Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milan, Italy · Dep. of Occupational and Environmental Medicine, Epidemiology and Hygiene, INAIL, Rome, Italy

  11. Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance

    Sep 22, 2026Yuhui Mao, Fen Liu, Shenghai Yuan +3Obstacle AvoidanceOccupancy

    School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798

  12. Probabilistic Modelling of Operational Design Domains, A New Approach for Testing AI Systems

    Sep 21, 2026Hans-Werner WiesbrockProbabilistic ModelOntology

    ITPower Solutions GmbH Kolonnenstrasse 26 10829 Berlin, Germany

  13. Safety Control of a Hyper-redundant Robot via Adaptive Weighted Control Barrier Functions

    Sep 21, 2026Zijian Cai, Kiwan Wong, Wenci Xin +3Control Barrier FunctionsAdaptive Control

    Singapore-MIT Alliance for Research and Technology (SMART) Centre, Singapore · CSAIL, Massachusetts Institute of Technology, Cambridge, USA · School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore +1

  14. BarrierFormer: Transformer-Guided Predictive Barrier Enforcement for Safe Robot Control

    Sep 20, 2026Anandsingh Chauhan, Kunal GargControl Barrier FunctionsModel Predictive Control

    Arizona State University

  15. Coding Agents with an Obstacle-Aware Harness for Safe Robot Manipulation

    Sep 17, 2026Bingxin Xu, Yuzhang Shang, Zhen Dong +1Robotic ManipulationObstacle Avoidance

    USC · UCF · UCSB

  16. Time-Efficient Iterative Learning Planning for Safety-Critical Dynamic Obstacle Avoidance

    Sep 17, 2026Zhiyi Chen, Shuli Lv, Chen Min +3Obstacle AvoidanceControl Barrier Functions

    National Key Laboratory of Autonomous Intelligent Unmanned Systems, School of Automation, Beijing Institute of Technology, Beijing 100081, China · School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

  17. Navigate or Relocate? Planning Among Movable Obstacles in Unknown Environments

    Sep 17, 2026Yuqing Zhang, Haoyu Zhu, Yiannis KantarosRobot PlanningMotion Planning

    Department of Electrical and Systems Engineering, Washington University in St. Louis, St. Louis, MO, USA

  18. PASSAGE: Scaling Scene-Aligned Motion Learning for Perceptive Humanoid Traversal in Cluttered Environments

    Sep 16, 2026Yuxuan Ma, Zicheng Zeng, Chunlin Peng +17Obstacle AvoidanceEnvironment

    Galbot · Shanghai Qi Zhi Institute · ShanghaiTech University +5

  19. DetAug: Obstacle-Blind Trajectory Augmentation for Zero-shot Obstacle Avoidance

    Sep 16, 2026Reece O'Mahoney, Moritz Zoellner, Ioannis HavoutisObstacle AvoidanceRobotic Manipulation

    Oxford Robotics Institute, University of Oxford, Oxford, UK · Purdue University, West Lafayette, IN, USA

  20. OmniRisk: Omnidirectional Trajectory-Risk Learning for Agile Quadrotor Dynamic Avoidance

    Sep 16, 2026Yifan He, Yang Liu, Wenhao Zhao +8Obstacle AvoidanceQuadrotor

    Differential Robotics, Hangzhou, China · Zhejiang University, Hangzhou, China

  21. An Efficient Algorithm for Minimum-Pressure Growth Planning of Vine Robots

    Sep 16, 2026Andres C. Torres, Tobia Marcucci, Elliot W. HawkesObstacle AvoidanceShortest Paths

    Department of Mechanical Engineering, University of California Santa Barbara, CA 93106, USA · Department of Electrical and Computer Engineering, University of California Santa Barbara, CA 93106, USA

  22. Convergence rates for generative drifting flows: fixed-scale obstructions and multihead acceleration

    Sep 14, 2026Arthur Stéphanovitch, Eddie AamariGenerative ModelsConvergence

    Centre de recherche en économie et statistique · ENSAE, IP Paris · Département de Mathématiques et Applications +1

  23. DWMP: Leveraging Dual World Models for Humanoid Obstacle Traversal

    Sep 14, 2026Rongjun Jin, Jianming Ma, Yue GaoEfficient World-Action ModelObstacle Avoidance

  24. A Hierarchical Coverage Path Planning Algorithm for Unknown Environments

    Sep 14, 2026Zongyuan Shen, Haodong Liu, Gao Wang +4Path PlanningDynamic Environments

    College of Information Science and Technology, Jinan University, Guangzhou 510632, China. · School of Automation, Beijing Institute of Technology, Beijing 100081, China. · School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China.

  25. Tuning ROS 2 for Energy-Efficient Navigation: Empirical Insights from Costmap 2D Configurations

    Sep 14, 2026Michel Albonico, Andreas Wortmann, Ivano MalavoltaRobot NavigationRobot Operating System

    Federal University of Technology - Paran´a (UTFPR), DAINF-FB, Francisco Beltr˜ao, Brazil · University of Southern Denmark (SDU), MMMI, Centre for Software Technology (CST), Vejle, Denmark · Institute for Control Eng. of Machine Tools and Manufacturing Units (ISW), University of Stuttgart, Stuttgart, Germany +1

  26. Safety-aware Skill Adaptation for Reinforcement Learning in Dynamic Environments

    Sep 11, 2026A K M Nadimul Haque, Sheila Sutjipto, Marc G. Carmichael +1Obstacle AvoidanceSafety Constraints

    Robotics Institute, University of Technology Sydney, Australia

  27. ObstaDiff: Generalizable Diffusion Policy Learning via Obstacle-aware Representations

    Sep 10, 2026Jiawen Wang, Kevin Yao, Khalid JawedObstacle AvoidanceDiffusion Policies

    Department of Mechanical and Aerospace Engineering, University of California, Los Angeles · Department of Computer Science, University of California, Los Angeles

  28. PccDiffuser: Multi-solution Motion Planning for Continuum Robots

    Sep 9, 2026Ke Qiu, Sifan Chen, Si Wang +3Motion PlanningInverse Kinematics

    Department of Control Science and Engineering, Zhejiang University, Hangzhou, China

  29. Local Path Planning and Obstacle Avoidance for an Omnicopter Platform

    Sep 3, 2026Mikolaj Helinski, Spilios Theodoulis, Mahmoud Hamandi +3QuadrotorUnmanned Aerial Vehicles

    Faculty of Aerospace Engineering, Delft University of Technology, Delft, The Netherlands · Mohamed Bin Zayed University of Artificial Intelligence, Abu Dhabi, UAE · Center for Artificial Intelligence and Robotics, New York University Abu Dhabi, Abu Dhabi, UAE

  30. LARC: Lazy Adaptive Reachability Certification of Robot Manipulator Trajectories

    Aug 30, 2026Yu Feng, Hao Wu, Yuzhe Wang +1ReachabilityRobot Trajectories

    Department of Mechanical Engineering, National University of Singapore, Singapore · Singapore Institute of Manufacturing Technology, Agency for Science Technology and Research, Singapore

  31. OccPlanner: Goal-Aware Occupancy-Conditioned Diffusion Planner for PixelGoal Navigation

    Aug 14, 2026Binling Huang, Nianjin Ye, Xi Yang +6Diffusion Planning3D Semantic Occupancy Prediction

    Changhong Intelligent Robot University of Electronic Science and Technology of China

  32. A Reconfigurable Tracked Robot for Enhanced Obstacle Traversal Through Movable Articulation Point and Internal Mass Relocation

    Aug 7, 2026Yuki Uda, Yasutaka Nakashima, Motoji Yamamoto +1Obstacle AvoidanceLocomotion

    Department of Mechanical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan · Graduate School of Informatics and Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo, 182-8585, Japan

  33. Toward Integrating Adaptive Experience Replay and Online Uncertainty Estimation in Safe Actor-Critic Optimal Control

    Aug 5, 2026Mahshad Rastegarmoghaddam, Davoud Nikkhouy, Shima SamadzadehControl Barrier FunctionsSoft Actor-Critic

    Department of Mechanical Engineering, Politecnico di Milano, Milan, Italy

  34. OmniRouting: A Semantic-Coupled Multimodal Benchmark for Constraint-Aware Spatial Reasoning in PCB Routing

    Aug 5, 2026Taiting Lu, Kaiyuan Lin, Ziwei Dong +18Electronic Design AutomationLarge Language Model Routing

    1Pennsylvania State University · 2Independent Researcher · 3Shanghai Jiao Tong University +3

  35. Open-World Hierarchical Perception: Taxonomic Abstraction over Class-Agnostic Proposals for the Safe Handling of Out-of-Vocabulary Road Objects

    Aug 4, 2026Felix SchallerAutonomous Driving PerceptionOpen-Vocabulary Object Detection

    Dubai, UAE / Munich, Germany

  36. Projection-Retraction MPPI: Exact Constraint-Manifold Control for Manipulators

    Aug 4, 2026Seulchan Lee, Leesai Park, Minhyeong Kang +1Model Predictive Path IntegralRobotic Manipulator

    School of Mechanical Engineering, Kyung Hee University, Yongin-si 17104, Republic of Korea · Institutes of Convergence Technology, Suwon-si 16229, Republic of Korea

  37. Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopes

    Aug 3, 2026Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2Control Barrier FunctionsObstacle Avoidance

    Department of Aerospace Engineering, University of Maryland, College Park, MD 20742, USA · Department of Mechanical Engineering, Boston University, Boston, MA 02215, USA · School of Electrical and Electronic Engineering, Nanyang Technological University, and with M3S, SMART, Singapore +1

  38. Biconvex Optimization for Smooth Minimum-Time Trajectories around Convex Obstacles

    Aug 3, 2026Peter Werner, Tobia Marcucci, Daniela RusMotion PlanningObstacle Avoidance

    Massachusetts Institute of Technology Computer Science and Artificial Intelligence Laboratory · University of California Santa Barbara

  39. RADAR Perception for Dynamic Obstacle Avoidance onboard small-scale Quadrotor UAVs

    Aug 3, 2026Dnyandeep Mandaokar, Bernhard RinnerRadarObstacle Avoidance

    Institute of Networked and Embedded Systems, University of Klagenfurt, 9020 Klagenfurt, Austria

  40. Complete Motion Planning using Workspace-Fibered Decomposition for nR-Planar Manipulator

    Aug 2, 2026Aayush Rath, Antony ThomasMotion PlanningRobotic Manipulator

    Robotics Research Center, IIIT Hyderabad, Hyderabad 500032, India.

  41. RIT*: Riemannian Informed Trees for Cost-Adaptive Optimal Motion Planning

    Aug 1, 2026Muhayy Ud Din, Ahmed Nadar, Jan Rosell +1Motion PlanningObstacle Avoidance

    Center for Autonomous Robotic Systems, Khalifa University (KU-CARS) · Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, Barcelona, Spain

  42. Arm2Air: Cross-Embodiment Skeleton Transfer for 3D Relay Formation

    Jul 30, 2026Dohun Lee, Kyeonghyun Yoo, Seokmin Kim +3Obstacle AvoidanceCross-Embodiment Transfer

    Department of Electrical and Electronic Engineering, Korea University, Seoul, Republic of Korea

  43. Reactive 3D Motion Planning for a Franka Arm via Star-World Workspace Reshaping

    Jul 27, 2026Gia Dcosta, Saayuj Deshpande, Samhitha VedireMotion PlanningObstacle Avoidance

    University of Pennsylvania, Philadelphia, PA, USA

  44. Hybrid Artificial Potential Fields and Spatio-Temporal Transformers for Real-Time AUV Path Planning

    Jul 27, 2026Khadija Rais, Abdelmadjid Benmachiche, Imene SoualmiaAutonomous Underwater VehiclesPath Planning

    Laboratory of Mathematics, Informatics and Systems (LAMIS), Echahid Cheikh Larbi Tebessi University, T´ebessa, Algeria · Department of Computer Science, LIMA Laboratory, Chadli Bendjedid University, El-Tarf, Algeria

  45. Self-Supervised Bio-Inspired Robotic Trajectory Planning with Obstacle Avoidance

    Jul 22, 2026Miroslav Krupa, Miroslav Cibula, Kristína MalinovskáObstacle AvoidancePlanning

    Faculty of Mathematics, Physics and Informatics, Comenius University Bratislava, Bratislava, Slovakia

  46. Towards Capability-Aware Traversability Navigation for Unstructured Environments

    Jul 22, 2026Gianluca Capezzuto, Felipe Tommaselli, Matheus P. Angarola +2TraversabilityObstacle Avoidance

    Mobile Robotics Group, University of São Paulo, São Carlos, SP, Brazil

  47. Milo, a Fully Autonomous Indoor/Outdoor Robotic Guide Dog

    Jul 21, 2026Florian Golemo, Joanna Wolski, Joel Ruben Antony Moniz +1Autonomous NavigationObstacle Avoidance

    Mila - Quebec AI Institute Montreal, Canada · Mila - Quebec AI Institute, Polytechnique Montreal, Canada

  48. Predictive Training with Latent Imagination for Visual Quadruped Navigation

    Jul 20, 2026Yancheng Zhu, Wanli Ma, Chen Han +3Legged RobotsObstacle Avoidance

    Anker Spatial Perception Lab

  49. ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots

    Jul 18, 2026Ruturaj S. Sambhus, Kapi Ketan Mehta, Yicheng Zeng +1Multi-Robot SystemsModel Predictive Control

    Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA

  50. A Task-Space Receding Horizon Controller for Fast Collision Avoidance

    Jul 17, 2026Mattia Penzotti, Marco ControzziCollision AvoidanceObstacle Avoidance

    Biorobotics Institute and the Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna, Pisa, Italy

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

    Jul 17, 2026Ruochen Hou, Shiqi Wang, Beom Jun Kim +3Obstacle AvoidanceModel Predictive Control

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

  52. Learning Agile Navigation in Crowded Environments for Quadruped Robots

    Jul 16, 2026Shuyu Wu, Zeyu Liu, Tianbao Zhang +6Obstacle AvoidanceLegged Robots

    Shanghai Jiao Tong University, Shanghai 200240, China · State Key Laboratory of High-end Heavy-load Robots, Midea Group, Foshan 528300, China

  53. Risk-Aware Belief Control Barrier Functions over Random Finite Sets

    Jul 16, 2026Shaohang Han, Gang Chen, Yixi Cai +5Control Barrier FunctionsObstacle Avoidance

    Department of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden · Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands · Division of Aerospace, Moveability and Naval Architecture, KTH Royal Institute of Technology, Stockholm, Sweden

  54. Reinforcement Learning for the Full Strawberry Harvesting Process: Obstacle Separation, Detachment, and Placement

    Jul 16, 2026Changyou Miao, Teng Li, Ya XiongAgricultural RoboticsObstacle Avoidance

    The Intelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, China. · College of Engineering, Huazhong Agricultural University, Wuhan 430070, China

  55. Discriminative Barrier Functions for Safe Adversarial Imitation Learning from Observation

    Jul 15, 2026Anubhav Vishwakarma, Bhaumik Mehta, Caleb Hsu +3Control Barrier FunctionsOffline Reinforcement Learning

    University of Washington

  56. Vision-Based Obstacle Separation for Strawberry Harvesting in Clusters Using Hierarchical Reinforcement Learning

    Jul 15, 2026Teng Li, Hanfei Shi, Chunjiang Zhao +1Agricultural RoboticsObstacle Avoidance

    The Intelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, China. · School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing 100083, China. · Happy Elements Ltd., Beijing 100094, China.

  57. Layered Risk Mapping for Autonomous Patient Transport in Expeditionary Medical Facilities

    Jul 15, 2026Lorena Maria Genua, Sarvesh Prajapati, Damla Leblebicioglu +1Obstacle AvoidanceHazard

    Institute for Experiential Robotics, Northeastern University, Boston, Massachusetts, USA.

  58. LARAD: Layout-Aware Road Anomaly Detection via Spatial-Logic Reasoning

    Jul 14, 2026Shiyi Mu, Xujie Chen, Shugong XuObstacle Avoidance

    Shanghai University, Shanghai, China · Xi’an Jiaotong-Liverpool University, Suzhou, China

  59. StratMamba: Strategic and Reactive Stream Partitioning for Path-Efficient LiDAR-Based Obstacle Avoidance

    Jul 14, 2026Hung-Chieh Wu, Xiaopan Zhang, Kasra Sinaei +6Obstacle AvoidanceMamba

    1The Pennsylvania State University, USA. · 2AlphaZ, Inc., USA. · 3Georgia Institute of Technology, USA. +1

  60. D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions

    Jul 12, 2026Erdi Sayar, Ersin Daş, Joel W. Burdick +2Model Predictive ControlDiffusion 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