Safe Motion Planning

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21 papers in the last four weeks, up 110% on the four weeks before. 0.2% of all new papers.

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  1. Distribution-Transfer Safe-Horizon MPC under Mode Uncertainty

    Oct 5, 2026Stephen Crawford, Nora AyanianModel Predictive ControlSafe Motion Planning

    Department of Computer Science, Brown University, Providence, RI, USA.

  2. Propagating Elevation-Map Uncertainty Through the Contact Maximum in Closed Form

    Oct 5, 2026Aleš Kučera, Karel ZimmermannUncertainty QuantificationSafe Motion Planning

    Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic

  3. Dynamics-Aware Adaptive Corridors with Feasibility-Perturbed Trust-Region SQP for Certified Nonholonomic Motion Planning

    Oct 5, 2026Yang ShiConstrained Motion PlanningTrajectory Generation

    Jiangsu College of Safety Technology, Jiangsu, China

  4. Closed-Loop Refinement and Execution for Learned Driving Planners

    Oct 1, 2026Huaijin Hu, Shanting Wang, Zhongyu Mo +1Model Predictive ControlSafe Motion Planning

    Systems Engineering Program, Cornell University, Ithaca, NY 14853 USA

  5. FORTE: Forecasting Occupancy for Spatiotemporal Risk-Aware Planning in Dynamic Environments

    Sep 30, 2026Hahjin Lee, Young J. KimRobot NavigationSafe Motion Planning

    Department of Computer Science and Engineering at Ewha Womans University in Korea

  6. Efficient Multi-Modal Planning with Reward-Guided Preference Optimization for Autonomous Driving

    Sep 30, 2026Chenglin Chen, Lujia Wang, Xinhu Zheng +2Safe Motion PlanningAutonomous Driving Planning

  7. A Reachability-based Safety Certificate for Dynamical System Motion Policies

    Sep 29, 2026Aditya Vats, Tianyi Xia, Nadia FigueroaReachability AnalysisSafety-Critical Control

    The authors are with the University of Pennsylvania, Philadelphia, PA, USA.

  8. Foundation-Model-Guided Topology-Aware Semantic Risk Fields for Manipulation

    Sep 29, 2026Giung Lee, Weihang Guo, Lydia E. KavrakiRobot SafetyRobotic Manipulation

    Department of Computer Science, Rice University, Houston, TX, USA

  9. Trajectory-Level Mode Guidance for Controllable Diffusion-Based Multi-Robot Motion Planning

    Sep 29, 2026Tianyou Yu, Shengze Cai, Chao XuMulti-Robot Motion PlanningTrajectory Generation

    Institute of Cyber-System and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China

  10. CollisionSplatting: Collision-Aware Motion Planning in 3DGS Scenes with Image-Conditioned Objectives and Adjustable Conservatism

    Sep 28, 2026R. Khorrambakht, Joaquim Ortiz-Haro, Stephan Weiss +13D Gaussian SplattingModel-Based Planning

    Machines in Motion Lab, Tandon School of Engineering, New York University · Department of Smart Systems Technologies, University of Klagenfurt, Austria. · Artificial and Natural Intelligence Toulouse Institute (ANITI)

  11. Trajectory-Safe Orienteering for Human-Robot Shared Environments

    Sep 28, 2026Songqun Gao, Elena Basei, Marco Roveri +2Trajectory GenerationRobot Safety

    Department of Industrial Engineering, Universit`a di Trento, Trento, Italy. · Interdepartmental Robotics Labs (IDRA), University of Trento, Trento, Italy · Department of Information Engineering and Computer Science, Universit`a di Trento, Trento, Italy.

  12. Feasibility Distance Fields for Heterogeneous Constraints in Robot Configuration Space

    Sep 21, 2026Xijing Cui, Huayan Pu, Jun Luo +1Constrained Motion PlanningSigned Distance Functions

    First and third authors' affiliation · Second author's affiliation

  13. Risk-Aware Motion Planning and Control under Unknown Dynamics with Hybrid Observations

    Sep 20, 2026Zhiquan Zhang, Melkior OrnikRobotic ControlSafe Motion Planning

    University of Illinois Urbana-Champaign, IL, 61801 USA

  14. FeasibleFlow: One-Step Joint Transport of Configuration Feasibility and Trajectories for End-to-End Driving

    Sep 20, 2026Xiang Li, Bikun Wang, Qing Xu +1Flow MatchingTrajectory Generation

    Cross-Domain Computing Solutions, Bosch

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

    Sep 17, 2026Bingxin Xu, Yuzhang Shang, Zhen Dong +1Robot SafetyRobotic Manipulation

    USC · UCF · UCSB

  16. WZPlanner: Safe End-to-End Path Planning for Autonomous Driving in Work Zones

    Sep 16, 2026Nishad Sahu, Changzhong Qian, Guangzhou Cai +3Autonomous Driving DatasetsEnd-to-End Autonomous Driving

    Raj · Department of Electrical and Computer Engineering Carnegie Mellon University, Pittsburgh, PA, USA

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

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

    Nanyang Technological University

  18. Risk-Aware World Modeling with Flow-Guided Occupancy Evolution for Selective Trajectory Planning in Automated Driving

    Sep 16, 2026Rongxiang Zeng, Linsen Cai, Jiafu Zhang +7World Model-Based Planning3D Occupancy Prediction

    RWTH Aachen University, Aachen, Germany · Monash University, Melbourne, Australia · Technical University of Munich (TUM), Munich, Germany

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

    Sep 16, 2026Yifan He, Yang Liu, Wenhao Zhao +8Aerial RoboticsSafe Motion Planning

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

  20. CorrRisk-WM: Corridor-Conditioned Risk World Modeling for Safety-Critical Trajectory Planning

    Sep 15, 2026Tingyu Guo, Reza LangariWorld Model-Based PlanningWorld Models for Autonomous Driving

    J. Mike Walker ’66 Department of Mechanical Engineering, Texas A&M University, College Station, TX 77843, USA

  21. READ: Learning Risk-Informed Fields for End-to-End Autonomous Driving

    Sep 14, 2026Zhiyuan Liu, Yuanxin Tian, Zehong Ke +5End-to-End Autonomous DrivingSafe Motion Planning

    School of Vehicle and Mobility, Tsinghua University.

  22. Future-Aware Flow Planning for Safe UAV Target Following

    Sep 9, 2026Boning Feng, Haoran Zhang, Xiaowen Bi +2Collision AvoidanceUAV Navigation

    Department of Computer and Systems Sciences, Stockholm University, Stockholm, Sweden · School of Urban Planning and Design, Peking University, Shenzhen, 518055, China · Guangdong Provincial Key Laboratory of Risk Perception and Sustainable Governance in Energy Transition, Shenzhen, 518055, Guangdong, China +2

  23. Online, Reachability-Aware, Sampling-Based Motion Planning

    Sep 8, 2026Brendan Gould, Zhiyuan Zhang, Panagiotis Tsiotras +1Robotic ControlReachability Analysis

  24. CALM: Configuration-Aware Human Intervention Boundaries During Robot Approach

    Sep 7, 2026Xinting Gao, Sipu Zhu, Weimin ZhuangRobot SafetySafe Motion Planning

    School of Architecture, Tsinghua University, China · Architectural Design & Research Institute of Tsinghua University, China

  25. Sampling-based Certified Planning with Graphs of Convex Sets

    Aug 30, 2026Peng Xie, Amr AlanwarConstrained Motion PlanningRobotic Manipulation

    TUM School of Computation, Information and Technology, Department of Computer Engineering, Technical University of Munich, 74076 Heilbronn, Germany

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

    Aug 30, 2026Yu Feng, Hao Wu, Yuzhe Wang +1Reachability AnalysisRobot Safety

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

  27. Learning-Based Behavior Planning for Automated Driving: Real-World Integration and Deployment

    Aug 12, 2026Jean-Pierre Busch, Guido Linden, Jan Bergmann +1Safe Motion PlanningMotion Planning

    Institute for Automotive Engineering (ika), RWTH Aachen University, Germany · ika · Chair of Automotive Technology (FTM), Technical University of Munich +1

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

    Aug 11, 2026Sachin Sunil Kelkar, Tanmay Dokania, Yashwanth Kumar NakkaTrajectory OptimizationKinodynamic Motion Planning

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

  29. Wind-Informed Rapid Flight-Planning in Complex Urban Topologies via Machine Learning and Experimental Validation

    Aug 10, 2026Peter I. Renn, Alejandro A. Stefan-Zavala, Julian Humml +8UAV NavigationSafe Motion Planning

    1: California Institute of Technology, Pasadena, CA, USA · 2: Technology Innovation Institute, Abu Dhabi, UAE

  30. Navigating the Proximity-Safety Balance: Constraint Decomposition for Human Following in Pedestrian Crowds

    Aug 10, 2026Shiting Gong, Jianpeng Yao, Jinfeng Wang +2Constrained RLRobotic RL

    University of Pennsylvania, PA, USA · University of California, Riverside, CA, USA · 3Stanford University, CA, USA +2

  31. Energy-Structured Latent World Models with Neural Time Fields for Physically Constistent Open-World Motion Planning

    Aug 10, 2026Yapeng Liu, Yuanzhao Zhai, Bo Ding +2World Model LearningWorld Models

    PDL Lab, College of Computer Science and Technology, National University of Defense Technology

  32. 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

  33. 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

  34. Particle-Based Conformal Prediction for Contact-Aware Uncertainty Calibration in Stratified Configuration Spaces

    Aug 10, 2026Luís Marques, Kristian Popov, Dmitry BerensonContact-Rich Robotic ManipulationConformal Prediction

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

  35. Hierarchical Topology-Aware Planning and Control of Underwater Vehicle-Manipulator Systems in Confined Environments

    Aug 9, 2026Mohamed Abdelwahab, Ruggero Carli, Damiano Varagnolo +1Underwater RoboticsSafe Motion Planning

    Department of Information Engineering, University of Padova, Via Gradenigo 6/B, 35131 Padova, Italy · Department of Electrical and Information Engineering, Polytechnic University of Bari, Via Orabona 4, 70125 Bari, Italy · Department of Engineering Cybernetics, Norwegian University of Science and Technology, O. S. Bragstads plass 2D, 7034 Trondheim, Norway

  36. MPPI Planning with Gaussian-Based Human Cost Function for Social Navigation

    Aug 8, 2026Chinmay MundaneSocial Robot NavigationSafe Motion Planning

    VJTI, India

  37. CoCoNav: Conformal Control for Safe Robot Navigation in Crowds

    Aug 7, 2026Cheng Guo, Mingzhe Ni, Zheng Liang +5Constrained Motion PlanningConformal Prediction

    Department of Computer Science, The University of Manchester, Manchester, UK. · Human-Robot Interfaces and Interaction Laboratory, Italian Institute of Technology, Genoa, Italy. · Genisom AI, Shanghai, China. +3

  38. Failing Gracefully: Mitigating Impact of Inevitable Robot Failures

    Aug 5, 2026Duc M. Nguyen, Saad A. Ghani, Andrew Marshall +3Robotics SimulationRobotics

    Department of Computer Science, George Mason University · RobotiXX Lab, George Mason University

  39. GASP: GPU-Accelerated Safe Planner for Real-Time Collision-Aware Motion Generation with Latent Trajectory Sampling

    Aug 5, 2026Colin Merk, Stefanos Charalambous, Peter Dürr +1Constrained Motion PlanningTrajectory Generation

    Sony, Zurich, Switzerland.

  40. Flying over The Uncertain Nature (FORTUNE): Intelligent and Humanistic 3D Path Planning for Low-Altitude Collaboration

    Aug 4, 2026Minghui Liwang, Wenhan Jia, Xinlei Yi +3Multi-Robot Motion PlanningSafe Motion Planning

  41. Accelerating Human-Aware Robot Trajectory Generation via Diffusion and Consistency Distillation

    Aug 4, 2026Byeong-Il Ham, Hyun-Bin Kim, Kyung-Soo KimConstrained Motion PlanningTrajectory Generation

  42. 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

  43. Learning-Based Motion Planning for Dynamic Environments: From Foundational Algorithms to Emerging Paradigms

    Aug 1, 2026Zongyuan Shen, Shalabh Gupta, Shancheng Zhao +7Robot Policy LearningSafe Motion Planning

    College of Information Science and Technology, Jinan University, Guangzhou 510632, China. · Department of Electrical and Computer Engineering, University of Connecticut, Storrs, CT 06269, USA. · Guangzhou Maritime University, Guangzhou 510725, China. +4

  44. Safe Vision Language Action Models via Barrier Enhanced Flow Matching

    Jul 31, 2026Kasra Sinaei, Hung-Chieh Wu, Donald EbeigbeFlow MatchingControl Barrier Functions

    The authors are with the Department of Electrical Engineering, The Pennsylvania State University

  45. 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

  46. Risk-Aware Motion Planning with Learned Trajectory Primitives and Probabilistic Safety Assessment

    Jul 29, 2026Marc Kaufeld, Dian Zhuang, Johannes BetzCollision AvoidanceConstrained Motion Planning

    Professorship of Autonomous Vehicle Systems, Technical University of Munich, 85748 Garching, Germany; Munich Institute of Robotics and Machine Intelligence (MIRMI) · School of Engineering and Design, Technical University of Munich, 85748 Garching, Germany

  47. SGTP: Sampling-based Game-Theoretic Planning for Real-Time Multi-Vehicle Autonomous Racing

    Jul 28, 2026Zhouheng Li, Fangguo Zhao, Mattia Piccinini +6Autonomous RacingSafe Motion Planning

    Zhejiang University, Hangzhou, China. · Technical University of Munich, Garching, Germany. · Nanyang Technological University, Singapore.

  48. Conformal Constraint Tightening for Chance-Constrained Motion Planning with Unknown Dynamics

    Jul 24, 2026Shubham Natraj, Bruno Sinopoli, Yiannis KantarosConstrained Motion PlanningSafe Motion Planning

    Department of Electrical and Systems Engineering, Washington University in St. Louis, 1 Brookings Dr, St. Louis, MO 63130, USA · School of Electrical, Computer and Energy Engineering, Arizona State University, 650 E. Tyler Mall, Tempe, AZ 85281, USA

  49. Safe Learning Predictive Control for Ego-World Robotic Systems

    Jul 24, 2026Davide Valenti, Giuseppe NotarstefanoMulti-Agent ControlSafe Robot Navigation

    Department of Electrical, Electronic and Information Engineering, University of Bologna, Bologna, Italy

  50. A Real-Time Generalized Nash Equilibrium Framework for Interaction-Aware Autonomous Driving in Mixed Traffic

    Jul 23, 2026Nouhed Naidja, Mohamed-Cherif Rahal, Steve Pechberti +3Game TheoryAutonomous Driving

    L2S · Institut VEDECOM, Versailles, France · Laboratoire des Signaux et Syst`emes (L2S) +1

  51. From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVs

    Jul 21, 2026Jason Stanley, Zhirui Dai, Qihao Qian +6Trajectory GenerationSigned Distance Functions

    UC San Diego, La Jolla, USA · Electrical and Computer Engineering Department, UC San Diego, 9500 Gilman Dr, La Jolla, 92093, CA, USA. · Shield AI, San Diego, USA +1

  52. Pose-Parameterized Motion Planning and CBF-QP Self-Collision Filtering for a Long-Reach Drilling Boom

    Jul 21, 2026Mehdi Heydari Shahna, Tuomo Kivelä, Jouni MattilaConstrained Motion PlanningControl Barrier Functions

    Faculty of Engineering and Natural Sciences, Tampere University, 33720 Tampere, Finland. · Sandvik Mining and Construction Oy, Tampere, Finland.

  53. Beyond Fixed Goal Delivery: Online POMDP Planning for Target Interception in Crowds

    Jul 20, 2026Himanshu Gupta, Kelvin Aladum, Nisar Ahmed +2Robot NavigationSafe Motion Planning

    Dept. of Aerospace Engineering Sciences, University of Colorado Boulder, USA · Dept. of Computer Science, University of Colorado Boulder, USA

  54. Token-Wise Latent Streaming from Slow Reasoners to Fast Planners for Dynamic Vision Language Navigation

    Jul 18, 2026Tianshuai Hu, Yangyi Zhong, Zeying Gong +7Vision-Language NavigationSocial Navigation

    The Hong Kong University of Science and Technology. · The Hong Kong University of Science and Technology (Guangzhou). · National University of Singapore. +1

  55. 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.

  56. Interventional Causal Circuits for Safe Robot Action Testing and Failure Recovery

    Jul 16, 2026Naren Vasantakumaar, Tom Schierenbeck, Michael BeetzRobot Failure DetectionRobot Failure Recovery

    Institute for Artificial Intelligence, University of Bremen

  57. Motion Planning with Model-Based Diffusion via Constraint Optimization and Adaptive Scheduling

    Jul 16, 2026Zhilin He, Bowei Li, Jianlin Dou +2Constrained Motion PlanningTrajectory Optimization

    Carnegie Mellon University · University of Pennsylvania

  58. Model-Based Diffusion Optimal Control for Multi-Robot Motion Planning

    Jul 14, 2026Zhilin He, Yorai Shaoul, Jiaoyang LiMulti-Robot Motion PlanningConstrained Motion Planning

    Carnegie Mellon University, Pittsburgh, PA, USA

  59. A Model for Mediating Multi-Modal Human Intent into Safe Maneuvers for UAVs

    Jul 13, 2026Sofia Nelson, Dalal Alrajeh, Pedro Antonio Alarcon Granadeno +1Aerial RoboticsSafe Motion Planning

    University of Notre Dame Notre Dame, IN, USA · Imperial College London London, UK

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

    Jul 12, 2026Erdi Sayar, Ersin Daş, Joel W. Burdick +2Constrained Motion PlanningDiffusion-Based 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