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. 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

  2. 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

  3. 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

  4. 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

  5. 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

  6. 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

  7. 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

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

    Aug 8, 2026Chinmay MundaneSocial Robot NavigationSafe Motion Planning

    VJTI, India

  9. 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

  10. 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

  11. 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.

  12. 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

  13. 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

  14. 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

  15. 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

  16. 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

  17. 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

  18. 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

  19. 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.

  20. 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

  21. 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

  22. 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

  23. 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

  24. 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.

  25. 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

  26. 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

  27. 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.

  28. 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

  29. 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

  30. 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