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. 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

  2. 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

  3. BucketKD: A Safety-Aware Bucket-Based Knowledge Distillation Framework for End-to-End Motion Planning

    Jul 12, 2026Md Nahidul Islam, Mohd Hasan Ali, Dipankar Dasgupta +1Safe Motion PlanningMotion Planning

    Department of Computer Science, University of Memphis, Memphis, TN, United States · Department of Electrical and Computer Engineering, University of Memphis, Memphis, TN, United States

  4. EvoPlan: Evolutionary Neuro-Symbolic Robot Planning with Spatio-Temporal Guarantees

    Jul 7, 2026Bhavya Sai Nukapotula, Samin Moosavi, Haoze Wang +4Constrained Motion PlanningLarge Language Model-Based Robot Planning

    Texas A&M University · Westwood High School

  5. Dynamic Airspace Management for UAVs in Evolving Urban Environments: Collaborative Coordination and Human Safety

    Jul 6, 2026Lin Sun, Yuhang Wang, Fan Meng Hong +3Collision AvoidanceMulti-Robot Coordination

    Shanghai Jiao Tong University Shanghai, China · Shanghai Shapere Information Technology Co.,Ltd. Shanghai, China

  6. Integrated Graph Search and Model Predictive Control for Smooth and Efficient Path Planning in Autonomous Vehicles

    Jul 5, 2026Duc-Tien Bui, Ngoc Thinh Nguyen, Hung Duy Nguyen +3Model Predictive ControlSafe Motion Planning

    Institute of Automotive Engineering, Graz University of Technology, 8010 Graz, Austria · Drone Engineering, University of Applied Science Kufstein Tirol, Austria · Automation and Control Institute (ACIN), Vienna University of Technology, Austria

  7. Hope for the Best, Prepare for the Worst: Occlusion-Aware Contingency Planning for Autonomous Vehicles

    Jul 3, 2026Truls Nyberg, Anna Gautier, Jana TumovaCollision AvoidanceOcclusion Reasoning

    KTH Royal Institute of Technology · Traton AB · Chalmers University of Technology +1

  8. Continuous-Time Gaussian Belief Trees for Motion Planning

    Jul 3, 2026Rayan Mazouz, Qi Heng Ho, Zachary N. Sunberg +1Belief-Space PlanningConstrained Motion Planning

    Department of Aerospace Engineering Sciences at the University of Colorado Boulder, CO, USA · Department of Aerospace and Ocean Engineering at Virginia Tech, Blacksburg, VA, USA

  9. From Prediction Uncertainty to Conformalized Distance Fields for Safe Motion Planning

    Jul 1, 2026Jaeuk Shin, Yoonseok Ra, Insoon YangConstrained Motion PlanningConformal Prediction

    Department of Electrical and Computer Engineering, ASRI, Seoul National University, Seoul 08826, South Korea

  10. NeHMO: Neural Hamilton-Jacobi Reachability Learning for Decentralized Safe Multi-Arm Motion Planning

    Jul 1, 2026Qingyi Chen, Zachary Kingston, Ahmed H. QureshiMulti-Robot Motion PlanningConstrained Motion Planning

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

  11. Solution space path planning for supporting en-route air traffic control

    Jun 30, 2026Yiyuan Zou, Wenying Lyu, Clark BorstCollision AvoidanceAir Traffic Management

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

  12. 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

  13. HJ-SafeDMP: Hamilton-Jacobi Reachability-Guided Dynamic Movement Primitives for Provably Safe Robot Motion

    Jun 27, 2026Siddhanth Ramesh, Ravi PrakashReachability AnalysisControl Barrier Functions

    Cyber-Physical Systems, Indian Institute of Science (IISc), Bengaluru.

  14. Optimization-based Safe Trajectory Planning for Autonomous Ground Vehicle in Multi-Floor Scenarios

    Jun 23, 2026Zishang Xiang, Runda Zhang, Runqi Chai +3Trajectory OptimizationRobot Navigation

    school of Automation, Beijing Institute of Technology, Beijing, China

  15. Any-Body Guard: Universal Safeguarding for Manipulation Policies via Action Masking

    Jun 21, 2026Alex Beaudin, Hanna Krasowski, Kartik Nagpal +3Robot SafetyRobotic Manipulation

    University of California, Berkeley

  16. Task Allocation and Motion Planning in Dynamic, Cluttered Environments via CBBA and Graphs of Convex Sets

    Jun 16, 2026Matthew D. Osburn, Cameron K. Peterson, John L. SalmonMulti-Robot Motion PlanningMulti-Agent Coordination

    Brigham Young University, Provo, Utah, 84602

  17. LAGO Policy: Latency-Aware Asynchronous Diffusion Policies with Goal-Directed Collision-Free Planning for Smooth Manipulation

    Jun 16, 2026Guowei Shi, Xupeng Xie, Yiming Luo +3Robotic ControlTrajectory Optimization

    The Hong Kong University of Science and Technology (Guangzhou) · International Digital Economy Academy · Southern University of Science and Technology +1

  18. FLAP: FOV-Constrained Active Perception Planning for Prior-Map-Free 3D Navigation

    Jun 16, 2026Mengke Zhang, Sitong Li, Tiancheng Lai +6Active PerceptionTrajectory Optimization

    The State Key Laboratory of Industrial Control Technology, College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China. · Huzhou Institute, Zhejiang University, and Huzhou Key Laboratory of Autonomous System, Huzhou 313000, China. · Shanghai Institute of Special Equipment Inspection and Technical Research Co., Ltd, Shanghai 200062, China.

  19. Is Your Trajectory Displacement Safe in Long-tail?

    Jun 15, 2026Qiao Sun, Weicheng Zheng, Yixin Huang +1Autonomous Driving Safety EvaluationAutonomous Driving

    Shanghai Qi Zhi Institute · Tongji University · Tsinghua University

  20. GraphWorld: Long-Horizon Planning with World Models for End-to-End Autonomous Driving

    Jun 15, 2026Ziying Song, Caiyan Jia, Lin Liu +8World Model LearningEnd-to-End Autonomous Driving

    Beijing Key Laboratory of Traffic Data Mining and Embodied Intelligence, School of Computer Science and Technology, Beijing Jiaotong University, Beijing, China

  21. Pixels to Proofs: Probabilistically-Safe Latent World Model Control via Parallel Conformal Robust MPC

    Jun 14, 2026Devesh Nath, Anutam Srinivasan, Haoran Yin +3Constrained Motion PlanningWorld Model-Based Planning

    Georgia Institute of Technology

  22. DiRecT: Safe Diffusion-Based Planning via Receding-Horizon Denoising

    Jun 13, 2026Paolo Giaretta, Zeyang Li, Navid AzizanConstrained Motion PlanningDiffusion-Based Planning

    MIT

  23. Exact, Efficient, and Safe Occlusion-Aware Planning Using AH-Polyhedrons

    Jun 13, 2026Long Kiu Chung, David Isele, Toktam Mohammadnejad +4Reachability AnalysisAutonomous Parking

    Honda Research Institute (HRI), Mountain View, CA. · Georgia Institute of Technology, Atlanta, GA.

  24. PolyFlow: Safe and Efficient Polytope-Constrained Flow Matching with Constraint Embedding and Projection-free Update

    Jun 11, 2026Jianming Ma, Qiyue Yang, Yang Zhang +4Constrained Generative ModelingFlow Matching

    Shanghai Jiao Tong University, Shanghai, China · Shanghai Innovation Institute, Shanghai, China

  25. Learning Unions of Convex Sets via Invertible Latent Decomposition for Path Planning

    Jun 10, 2026Taerim Yoon, Dongho Kang, Kisang Park +3Constrained Motion PlanningRepresentation Learning

    Korea University · ETH Zurich

  26. ConsistencyPlanner: Real-time Planning with Fast-Sampling Consistency Models

    Jun 10, 2026Qichao Zhang, Xing Fang, Jiaqi Fang +4Safe Motion PlanningAutonomous Driving Planning

    State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China · Guangzhou Zaofu Intelligent Technology Co., Ltd. · School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China

  27. Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions

    Jun 8, 2026Alejandro Gonzalez-Garcia, Dries Dirckx, Jan Swevers +1Constrained Motion PlanningControl Barrier Functions

  28. Uncertainty-Aware Motion Planning for Autonomous Driving in Mixed Traffic Environment

    Jun 8, 2026Ming Cheng, Hao Chen, Ziyi Yang +2Safe Motion PlanningMotion Planning

    Central South University · City University of Macau

  29. Safe, Fluent and Acceptable Motion Generation and Execution for Human--Robot Interaction in Manufacturing Environments

    Jun 7, 2026Thibaut Lopez, Olivier Aycard, Pierre-Brice Wieber +2Robot Motion GenerationSafe Motion Planning

    GIPSA Lab and Grenoble Institute of Technology, 38000 Grenoble, France · Inria, 38000 Grenoble, France · LIP/PC2S and Univ. Grenoble Alpes, Univ. Savoie Mont Blanc, 38000 Grenoble, France

  30. Real-Time and Accurate Collision-Free Teleoperation via Differentiable Constraint-Based Trajectory Planning

    Jun 7, 2026Max Grobbel, Tristan Schneider, Daniel Flögel +1Collision AvoidanceConstrained Motion Planning

    FZI - Forschungszentrum Informatik, Karlsruhe, Germany · Department of Electrical Engineering, Karlsruhe Institute of Technology, Karlsruhe, Germany