Roadmap-Based Motion Planning

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Overview

Roadmap-based motion planning builds a graph of collision-free robot configurations and connections, then searches it for routes through an environment. Methods include probabilistic roadmaps, visibility and Voronoi graphs, sparse or mission-aware sampling, and learned or geometry-aware techniques for pruning and validating edges. These graphs support applications from single-robot navigation and inspection to multi-robot coordination, online planning in unknown spaces, and navigation using visual maps. A central challenge is balancing graph size and planning speed against route quality, reliable connectivity, and the realism needed to account for robot shape, task goals, and uncertainty.

Latest papers

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26 papers5 papers in the last four weeks, down 17% on the four weeks before. 0.0% of all new papers.

  1. GS-PRM: Gaussian Visual Roadmap for Image-Goal Navigation

    Oct 14, 2026Ashraf Siddique, Kyung Min Han, Young J. KimRobot NavigationImage-Goal Navigation

  2. 2DGS-Planner: Rasterization-based Path Planning in 2D Gaussian Splatting Map

    Oct 8, 2026Jiwon Park, Dong-Uk Seo, Hyun MyungRobot Motion PlanningMotion Planning

  3. Shared-Roadmap Generation and Evaluator for Multi-Agent Path Planning Using Heterogeneous Graph Neural Network

    Oct 6, 2026Brandon Ho, Nikola Rogers, Seung-Kyum ChoiMulti-Agent PlanningMulti-Agent Path Finding

    Institute of Robotics and Intelligent Machines (IRIM), Georgia Institute of Technology, Atlanta, GA, USA

  4. Return-to-Home Feasible Micro-Aerial Vehicle Exploration for 3D Gaussian Splatting Reconstruction

    Oct 2, 2026Prajit Krisshnakumar, Fan Yang, Koichiro Niinuma3D ReconstructionUAV Navigation

    Fujitsu Research

  5. Inspection-SPARS: Task-Oriented Sparse Roadmaps for Inspection Planning

    Sep 28, 2026Adir Morgan, Oren Salzman, Kiril SoloveyRobotic InspectionRoadmap-Based Motion Planning

    The authors are with the Technion–Israel Institute of Technology, Haifa, Israel.

  6. dRVG: Quadtree-Guided, Resolution-Complete Online Motion Planning for Polygonal Robots in Unknown Environments

    Sep 25, 2026Duo Zhang, Hechen Zhang, Junshan Huang +1Motion PlanningRoadmap-Based Motion Planning

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

  7. MR. POP: Multi-Robot Parallel Optimizing Planner for Almost-Surely Asymptotically Optimal Planning

    Sep 25, 2026Chih H. Huang, Roy Xing, Brian Plancher +1Multi-Robot Motion PlanningMotion Planning

    Columbia College, Columbia University · Department of Computer Science, Dartmouth College · Department of Computer Science, Purdue University

  8. MIRA-PRM: Mission-Informed Reusable Roadmap Planning for Mobile Gas-Sensing Inspection

    Sep 19, 2026Gongsen Wang, Siyuan Wang, Xinyuan Wang +4Roadmap-Based Motion PlanningSampling-Based Motion Planning

    State Key Laboratory of Transducer Technology, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100190, China · School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences, Beijing 100049, China · School of Electronic and Optical Engineering,Zijin College,Nanjing University of Science and Technology,Nanjing 210023, China +4

  9. CaSCo: Cascade-Aware Soft-Collision Motion Planning

    Sep 16, 2026Shivaram Kumar, Gaoyuan Liu, Yoonchang SungRoadmap-Based Motion PlanningRobot Safety

    Nanyang Technological University

  10. Asymptotically Optimal Multi-Robot Task and Motion Planning

    Sep 16, 2026Thi Thuy Ngan Duong, Cheuk Tung Shadow Yiu, Rahul Shome +1Multi-Robot Motion PlanningMulti-Robot Systems

    Nanyang Technological University · The Australian National University

  11. TASG-Explore: Traversability-Aware Sector-Guided Exploration for Ground Robot on Uneven Terrain

    Sep 8, 2026Shaocong Wang, Shiliang Shao, Ting Wang +2Off-Road Robot NavigationMobile Robotics

    State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China · University of Chinese Academy of Sciences, Beijing 101408, China · Key Laboratory of Maritime Intelligent Network Information Technology, Ministry of Education, Hohai University, Nanjing 210098, China

  12. StochSIPP: Safe Interval Path Planning in Stochastic Dynamic Environments

    Aug 1, 2026Ajith Kemisetti, Shahaf S. Shperberg, Yoonchang SungRoadmap-Based Motion PlanningSafe Motion Planning

    The University of Texas at Austin · Ben Gurion University of the Negev · Nanyang Technological University

  13. Homotopy-Aware Corridor Generation without Predefined Reference Paths

    Jul 31, 2026Haoze Dong, Minghan Li, Meng Guo +1Roadmap-Based Motion PlanningSafe Motion Planning

    School of Advanced Manufacturing and Robotics, Peking University, Beijing 100871, China

  14. ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control

    Jun 29, 2026Xiao Chen, Weishuai Zeng, Xiaojie Niu +12Roadmap-Based Motion PlanningHumanoid Robot Control

    The Chinese University of Hong Kong · Shanghai AI Laboratory

  15. PLAN-S: Bridging Planning with Latent Style Dynamics for Autonomous Driving World Models

    Jun 4, 2026Xiaoyun Qiu, Jingtao He, Yijie Chen +4Roadmap-Based Motion PlanningWorld Model-Based Planning

    Intelligent Transportation Thrust, Systems Hub, and Center of Seamless Connectivity & Connected Intelligence, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China.

  16. Neural Navigation Functions for Zero-Shot Generalizable Motion Planning

    Jun 2, 2026Benjamin D. Shaffer, Pei-An Hsieh, Brooks Kinch +2Zero-Shot LearningRoadmap-Based Motion Planning

    University of Pennsylvania, United States 1Department of Mechanical Engineering and Applied Mechanics · University of Pennsylvania, United States 2Department of Electrical and Systems Engineering

  17. Accelerating Robot Path Planning via Connectivity-Preserving Region Proposal Network

    May 27, 2026Zhanzheng Ma, Cancan Zhao, Shuai Zhang +1Image SegmentationRoadmap-Based Motion Planning

    School of Management, Hefei University of Technology, Hefei 230009, China

  18. N3P: Accelerated Automated Parking via a Learning-Based Naturalistic Three-Stage Scheme

    May 21, 2026Yifan Xue, Toktam Mohammadnejad, Faizan M Tariq +5Autonomous ParkingRoadmap-Based Motion Planning

    Honda Research Institute (HRI), Mountain View, CA. · University of Pennsylvania, PA.

  19. Reactive Planning based Control for Mobile Robots in Obstacle-Cluttered Environments

    May 14, 2026Li Tan, Junlin Xiong, Yan Wang +1Robot Trajectory TrackingMobile Robotics

    Department of Automation, University of Science and Technology of China, Hefei, 230031, China. · School of Intelligence Science and Engineering, Harbin Institute of Technology Shenzhen, Shenzhen 515100, China · School of Control Science and Engineering, Dalian University of Technology, Dalian 116024, China.

  20. SAGA: A Robust Self-Attention and Goal-Aware Anchor-based Planner for Safe UAV Autonomous Navigation

    May 4, 2026Junhao Wei, Yanxiao Li, Dexing Yao +9Self-AttentionRoadmap-Based Motion Planning

    Faculty of Applied Sciences, Macao Polytechnic University, Macao 999078, China · Pazhou Lab (Huangpu), Guangzhou 510555, China · College of Animal Science and Technology, Zhongkai University of Agriculture and Engineering, Guangzhou 510225, China +3

  21. Weakly-supervised Learning for Physics-informed Neural Motion Planning via Sparse Roadmap

    Apr 14, 2026Ruiqi Ni, Yuchen Liu, Ahmed H. QureshiPhysics-Informed MLWeakly Supervised Learning

    Department of Computer Science, Purdue University, West Lafayette, IN, USA, 47907.

  22. Serialized Red-Green-Gray: Quicker Heuristic Validation of Edges in Dynamic Roadmap Graphs

    Mar 30, 2026Yulie Arad, Stav Ashur, Marta Markowicz +3Roadmap-Based Motion PlanningMotion Planning

    Siebel School of Computing and Data Science, University of Illinois, 201 N. Goodwin Avenue, Urbana, IL 61801, USA · Department of Computer Science, Instituto Tecnológico Autónomo de México (ITAM), Mexico City, 01080, México

  23. Energy-Aware Collaborative Exploration for a UAV-UGV Team

    Mar 23, 2026Cahit Ikbal Er, Saikiran Juttu, Yasin YaziciogluMulti-Robot ExplorationMulti-Robot Coordination

    Department of Mechanical and Industrial Engineering at Northeastern University, Boston, MA.

  24. GRACE: A Unified 2D Multi-Robot Path Planning Simulator & Benchmark for Grid, Roadmap, And Continuous Environments

    Mar 11, 2026Chuanlong Zang, Anna Mannucci, Isabelle Barz +3Multi-Robot Motion PlanningMulti-Agent Path Finding

    Robert Bosch GmbH, Corporate Research, Stuttgart, Germany. · Technical University of Berlin, Berlin, Germany.

  25. Sampling-Based Motion Planning with Scene Graphs Under Perception Constraints

    Mar 3, 2026Qingxi Meng, Emiliano Flores, Thai Duong +2Scene GraphsMotion Planning

    Department of Computer Science, Rice University, Houston, TX 77005 USA · the Department of Computer Science, Rice University, Houston, TX 77005 USA, and also with Ken Kennedy Institute, Rice University, Houston, TX 77005 USA.

  26. 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

    Institute for Material Handling and Logistics, Karlsruhe Institute of Technology, Karlsruhe, Germany.