Safe Motion Planning

Ask about this topic

Momentum

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

Jul 13Week of Sep 28
View on map

Latest papers 152

All topics
CardsList

  1. The Field of Safe Motion: Operationalizing Affordances in the Field of Safe Travel Using Reachability Analysis

    Apr 29, 2026Leif Johnson, Trent Victor, Johan EngströmCollision AvoidanceSafe Motion Planning

    Waymo LLC, 1600 Amphitheatre Parkway, Mountain View, California 94043 USA

  2. STAR-Filter: Efficient Convex Free-Space Approximation via Starshaped Set Filtering in Noisy Environments

    Apr 29, 2026Yuwei Wu, Yichen Zhao, Dexter Ong +1Safe Motion Planning

    University of Pennsylvania, Philadelphia, PA, 19104 USA · Georgia Institute of Technology, Georgia, GA 30332, USA

  3. V-STC: A Time-Efficient Multi-Vehicle Coordinated Trajectory Planning Approach

    Apr 24, 2026Pengfei Liu, Jialing Zhou, Yuezu Lv +2Multi-Agent CoordinationSafe Motion Planning

    School of Automation, Beijing Institute of Technology, Beijing 100081, China · State Key Laboratory of CNS/ATM, Beijing Institute of Technology, Beijing 100081, China · Beijing Institute of Technology (Zhuhai), Zhuhai 519088, China +3

  4. Airspeed Forward-Invariance for Unpowered Fixed-Wing Aircraft

    Apr 22, 2026Huseyin Emre Tekaslan, Ella M. AtkinsSafe Motion Planning

    Kevin T. Crofton Department of Aerospace and Ocean Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA 24060, USA

  5. Safer Trajectory Planning with CBF-guided Diffusion Model for Unmanned Aerial Vehicles

    Apr 19, 2026Peiwen Yang, Shiyu Bai, Weisong Wen +2Diffusion Model GuidanceUAV Navigation

    Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong

  6. Planning Smooth and Safe Control Laws for a Unicycle Robot Among Obstacles

    Apr 19, 2026Aref Amiri, Basak Sakcak, Steven M. LaValleRobotic ControlConstrained Motion Planning

    Faculty of Information Technology and Electrical Engineering, University of Oulu · Department of Advanced Computing Sciences, Maastricht University

  7. Intent-aligned Autonomous Spacecraft Guidance via Reasoning Models

    Apr 19, 2026Yuji Takubo, Simone D'AmicoTrajectory OptimizationLLM Planning

    Stanford University · Lomita Mall, Stanford, CA, 94305 · Stanford University 496 Lomita Mall, Stanford, CA, 94305

  8. Emergency Stopping for Liquid-manipulating Robots

    Apr 17, 2026Samuli Hynninen, Ville KyrkiRobotic ControlRobot Safety

    Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Finland.

  9. Trajectory Planning for Safe Dual Control with Active Exploration

    Apr 16, 2026Kaleb Ben Naveed, Manveer Singh, Devansh R. Agrawal +1Safe Motion PlanningAdaptive Control

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

  10. Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees

    Apr 16, 2026Jakob Thumm, Marian Frei, Tianle Ni +2Conformal PredictionRobot Safety

    Department of Aeronautics and Astronautics, Stanford University · Chair of Imaging and Computer Vision, RWTH Aachen University · School of Artificial Intelligence, Shanghai Jiao Tong University +1

  11. Mosaic: An Extensible Framework for Composing Rule-Based and Learned Motion Planners

    Apr 15, 2026Nick Le Large, Marlon Steiner, Lingguang Wang +4Safe Motion PlanningMotion Planning

    Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany · FZI Research Center for Information Technology, Karlsruhe, Germany

  12. Goal-Conditioned Neural ODEs with Guaranteed Safety and Stability for Learning-Based All-Pairs Motion Planning

    Apr 3, 2026Dechuan Liu, Ruigang Wang, Ian R. ManchesterConstrained Motion PlanningSafe Motion Planning

    Australian Centre for Robotics (ACFR), and the School of Aerospace, Mechanical and Mechatronic Engineering, The University of Sydney, Sydney, NSW 2006, Australia

  13. From Singleton Obstacles to Clutter: Translation Invariant Compositional Avoid Sets

    Mar 23, 2026Prashant Solanki, Jasper Van Beers, Coen De VisserCollision AvoidanceReachability Analysis

    Delft University of Technology, Netherlands

  14. Multi-robot Graph Traversal with Support Coordination under Stochastically Moving Adversaries

    Mar 16, 2026Manshi Limbu, Xuan Wang, Gregory J. Stein +2Multi-Robot Motion PlanningMulti-Robot Coordination

    George Mason University

  15. Rethinking Gaussian Trajectory Predictors: Calibrated Uncertainty for Safe Planning

    Mar 11, 2026Fatemeh Cheraghi Pouria, Mahsa Golchoubian, Katherine Driggs-CampbellPedestrian Trajectory PredictionSafe Motion Planning

    Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, Champaign, IL 61820 USA · Department of Mathematical and Computational Sciences, University of Toronto, Toronto, Canada

  16. PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Planner

    Mar 11, 2026Eugene Ku, Yiwei LyuConstrained Motion PlanningTrajectory Generation

    Department of Computer Science and Engineering, Texas A&M University, College Station, TX, USA

  17. Online Generation of Collision-Free Trajectories in Dynamic Environments

    Feb 28, 2026Nermin Covic, Bakir LacevicConstrained Motion PlanningTrajectory Optimization

    Faculty of Electrical Engineering, University of Sarajevo, Bosnia and Herzegovina

  18. SPOT: Spatio-Temporal Obstacle-free Trajectory Planning for UAVs in Unknown Dynamic Environments

    Feb 1, 2026Astik Srivastava, Thomas J Chackenkulam, Bitla Bhanu Teja +2UAV NavigationSafe Motion Planning

    Robotics Research Center, IIIT Hyderabad, India · IIT-BHU, India

  19. HERMES: A Holistic End-to-End Risk-Aware Multimodal Embodied System with Vision-Language Models for Long-Tail Autonomous Driving

    Feb 1, 2026Weizhe Tang, Junwei You, Jiaxi Liu +7VLMs for Autonomous DrivingEnd-to-End Autonomous Driving

    Department of Civil and Environmental Engineering, University of Wisconsin–Madison, Madison, WI 53711 USA

  20. Temporal Cascading of Planning and Control for Quadrotor MPC

    Dec 13, 2025Rudolf Reiter, Chao Qin, Leonard Bauersfeld +1Robot Trajectory TrackingAerial Robotics

    Robotics and Perception Group, Department of Informatics, University of Zurich, Andreasstrasse 15, 8050 Zurich, Switzerland · Institute for Aerospace Studies, University of Toronto, 4925 Dufferin Street, Toronto, ON M3H 5T6, Canada

  21. RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight

    Dec 9, 2025Vit Kratky, Robert Penicka, Parakh M. Gupta +2Multi-Robot Motion PlanningNonlinear MPC

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

  22. Constant-Time Planning for Chaining Collision-free Motion to Manipulation Behaviors

    Nov 30, 2025Nayesha Gandotra, Itamar Mishani, Lai Yuan +2Contact-Rich Robotic ManipulationSafe Motion Planning

    Robotics Institute, School of Computer Science Carnegie Mellon University, United States

  23. Manifold-constrained Hamilton-Jacobi Reachability Learning for Decentralized Multi-Agent Motion Planning

    Nov 5, 2025Qingyi Chen, Ruiqi Ni, Junyoung Kim +1Multi-Robot Motion PlanningConstrained Motion Planning

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

  24. ART-TEB: Adaptive Trajectory Planning for Mobile Robots in Cluttered Environments

    Oct 30, 2025Hahjin Lee, Young J. KimTrajectory OptimizationTrajectory Generation

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

  25. STITCHER: Constrained Trajectory Planning in Complex Environments with Real-Time Motion Primitive Search

    Oct 16, 2025Helene J. Levy, Brett T. LopezConstrained Motion PlanningTrajectory Generation

    VECTR Laboratory, University of California, Los Angeles, Los Angeles, CA, USA

  26. Flow-Opt: Scalable Centralized Multi-Robot Trajectory Optimization with Flow Matching and Differentiable Optimization

    Oct 10, 2025Simon Idoko, Prajyot Jadhav, Arun Kumar SinghMulti-Robot Motion PlanningConstrained Motion Planning

    All authors are with the University of Tartu, Estonia.

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

    Jul 18, 2025Qingyi Chen, Zachary Kingston, Ahmed H. QureshiMulti-Robot Motion PlanningConstrained Motion Planning

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

  28. Captivity-Escape Games as a Means for Safety in Online Motion Generation

    Jun 2, 2025Christopher Bohn, Manuel Hess, Sören HohmannTrajectory GenerationSafety-Critical Control

    Institute of Control Systems, Karlsruhe Institute of Technology, 76131 Karlsruhe, Germany

  29. From Kinematic Motion Planners to Dynamic Autonomous Navigation with Obstacle Avoidance (Extended version)

    Mar 22, 2025Mayur Sawant, Abdelhamid TayebiRobotic ControlKinodynamic Motion Planning

    Department of Electrical and Computer Engineering, Lakehead University, Thunder Bay, ON P7B 5E1, Canada

  30. Occlusion-Aware Contingency Safety-Critical Planning for Autonomous Driving

    Feb 10, 2025Lei Zheng, Rui Yang, Minzhe Zheng +3Safe Motion PlanningMotion Planning

    Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China · School of Engineering, Great Bay University, Dongguan 523000, China · Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong SAR, China