Sampling-Based Motion Planning

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16 papers in the last four weeks, against 2 the four weeks before. 0.2% of all new papers.

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  1. CMP-IRRT*: A Perception-Assisted Height-Adaptive Planner for Quadruped Robots

    Oct 7, 2026Mingfan Zhao, Wendong Mao, Zhongfeng WangRobot NavigationMotion Planning

    School of Integrated Circuits, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, China

  2. geodex: A Library for Motion Planning on Riemannian Manifolds

    Oct 6, 2026Phone Thiha Kyaw, Ben Wei, Sepehr Samavi +2Motion PlanningRobot Motion Planning

    Space & Terrestrial Autonomous Robotic Systems (STARS) Laboratory at the University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, Ontario, Canada, M3H 5T6

  3. Pareto-Optimal Entropy-Regularized Trajectory Optimization

    Oct 6, 2026Dimitrios S. Georgiou, Augustinos D. Saravanos, Evangelos A. TheodorouTrajectory OptimizationTrajectory Generation

    Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA. · Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA.

  4. Beyond Waypoint Regression: Query-Based Cost Learning over Reachable Ego Futures for End-to-End Driving

    Oct 6, 2026Ahmed Abouelazm, Rupert Polley, Qingyuan Zhang +4Trajectory GenerationEnd-to-End Autonomous Driving

    FZI Research Center for Information Technology · Karlsruhe Institute of Technology · CARIAD SE

  5. Multi-Robot Multi-Goal Motion Planning with Stochastic Skills

    Oct 6, 2026William Schnyder, Valentin N. Hartmann, Stelian CorosMulti-Robot Motion PlanningMotion Planning

    Computational Robotics Lab (CRL), ETH Zürich

  6. 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.

  7. H-SPAR: Hydrodynamic-aware Simulation for Particle Transport and Autonomous Robots

    Oct 1, 2026Navid Zarrabi, Nariman Yousefi, Sajad SaeediRobotic Data CollectionRobotics Simulation

    Department of Mechanical, Industrial, and Mechatronics Engineering, Toronto Metropolitan University, Toronto, Ontario, Canada. · Department of Chemical Engineering, Toronto Metropolitan University, Toronto, Ontario, Canada. · Department of Computer Science, University College London, London, United Kingdom.

  8. BLT*: Informed Belief Localization Trees for Uncertainty-Aware Planning on Digital Twins

    Oct 1, 2026Elliot Preston-Krebs, Abhishek Goudar, Timothy D. BarfootBelief-Space PlanningDigital Twins

    University of Toronto Institute for Aerospace Studies (UTIAS), 4925 Dufferin St, Ontario, Canada.

  9. GPU-Accelerated Path-Dependent Marginal Information Gain for Autonomous Exploration

    Sep 30, 2026João Félix Mendes, Rodrigo Ventura, Meysam BasiriGPU AccelerationRobot Navigation

    Institute for Systems and Robotics, Department of Electrical and Computer Engineering, Instituto Superior Técnico, Lisboa, Portugal

  10. Sparse Planner: A Hybrid Planner for Efficient Sampling via a Conditional Variational Autoencoder

    Sep 30, 2026Wenguang Xu, Giovanni Lucente, Karem Mohamed +1Adaptive SamplingAutonomous Driving Planning

    Research Institute AImotion Bavaria, Technische Hochschule Ingolstadt (THI), Ingolstadt, Germany · Research Institute of Transportation Systems, German Aerospace Center (DLR), Braunschweig, Germany · German Research Center for Artificial Intelligence (DFKI), Saarbrücken, Germany

  11. 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)

  12. Control-Geometry Straightening for Sampling-Based Latent Planning

    Sep 28, 2026Ziang Fu, Ning NingRepresentation LearningWorld Models for Robotics

    Texas A&M University

  13. 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.

  14. ReVAMP: Vector-Accelerated Motion Planning for Kinematically-Constrained Systems via Reparameterization

    Sep 24, 2026Shrutheesh R. Iyer, Thomas Cohn, Zachary KingstonConstrained Motion PlanningRobotic Manipulation

    Department of Computer Science, Purdue University · Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology

  15. Induced Riemannian Metrics for Motion Planning with Constraints

    Sep 22, 2026Phone Thiha Kyaw, Thomas Cohn, Miguel Angel Rogel Garcia +1Constrained Motion PlanningTrajectory Optimization

    Space & Terrestrial Autonomous Robotic Systems (STARS) Laboratory at the University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, Ontario, Canada, M3H 5T6

  16. ScaleMPA: Rethinking Scalable RRT* Acceleration With a Grid-Native Representation

    Sep 21, 2026Zilong Wang, Yuzhou Chen, Xinyue He +2Motion PlanningRobot Motion Planning

  17. Resilient Motion Planning for Free-Flying Space Robots under Actuator Failures

    Sep 17, 2026Nicolas de Maddalena, Joris Verhagen, Jana TumovaSpace RoboticsRobotics

    Institute for Dynamic Systems and Control, ETH Zürich, 8092 Zürich, ZH, Switzerland · Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden, and also affiliated with Digital Futures.

  18. Navigate or Relocate? Planning Among Movable Obstacles in Unknown Environments

    Sep 17, 2026Yuqing Zhang, Haoyu Zhu, Yiannis KantarosRobot Task PlanningMotion Planning

    Department of Electrical and Systems Engineering, Washington University in St. Louis, St. Louis, MO, USA

  19. 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

  20. DynoFluxBench: Benchmarking Kinodynamic Space-Time Planners in Dynamic Environments

    Sep 16, 2026Franz Queißner, Andreas Orthey, Wolfgang HönigKinodynamic Motion PlanningMotion Planning

    TU Berlin, Germany

  21. Motion planning in high dimensional spaces hybridizing RRT and HAR via position-direction decoupling

    Sep 15, 2026Frederic Cazals, Nelson FeyeuxMulti-Robot Motion PlanningMotion Planning

    Centre Inria at Université Côte d’Azur, France

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

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

  23. 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

  24. 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.

  25. PEEL: Parallel Extraction for Long-Horizon Disassembly Planning via Scale-Invariant Sampling

    Aug 9, 2026Servet B. Bayraktar, Andreas Orthey, Zachary Kingston +1Long-Horizon Robotic ManipulationRobotic Manipulation

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

    Aug 8, 2026Chinmay MundaneSocial Robot NavigationSafe Motion Planning

    VJTI, India

  27. Sampling-Based Visibility Task Planning

    Aug 2, 2026Stav Ashur, Avishai SintovRobot Task PlanningMotion Planning

    School of Mechanical Engineering, Tel-Aviv University, Israel

  28. RIT*: Riemannian Informed Trees for Cost-Adaptive Optimal Motion Planning

    Aug 1, 2026Muhayy Ud Din, Ahmed Nadar, Jan Rosell +1Constrained Motion PlanningMotion Planning

    Center for Autonomous Robotic Systems, Khalifa University (KU-CARS) · Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, Barcelona, Spain

  29. 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.

  30. Motion Generation With Environmental Constraints

    Jul 27, 2026Előd Páll, Oliver BrockConstrained Motion PlanningMotion Planning

    Robotics and Biology Laboratory, Technische Universität Berlin, Germany · Science of Intelligence, Research Cluster of Excellence, Berlin, Germany