arXiv:2607. 10649v1 Announce Type: cross Abstract: Coverage path planning (CPP) is a fundamental problem in robot motion planning, whose aim is to produce robot trajectories that provide complete coverage of target workspaces while minimizing task-specific objectives such as path length, overlap, number of turns, and energy consumption.
arXiv:2607. 13054v1 Announce Type: cross Abstract: Environmental monitoring with unmanned aerial vehicles (UAVs) requires route planning methods that maximize covered area while handling energy limits, operational constraints, and geometric complexity.
arXiv:2607. 00444v1 Announce Type: cross Abstract: Spatiotemporal motion planning, especially in multi-robot settings, requires robots to reason about collision-free regions that change over time, which is challenging in continuous spaces when feasible regions are transient and geometrically constrained.
arXiv:2608. 05588v1 Announce Type: cross Abstract: Lifelong Multi-Agent Path Finding (LMAPF) requires repeatedly planning collision-free paths for agents that continuously receive new goals upon reaching their current ones.
The paper investigates how inaccuracies in pretrained occupancy networks affect active mapping robots that select camera viewpoints to reconstruct unknown 3D scenes. By fixing the planner and varying the occupancy representation—ranging from no completion to ground‑truth occupancy—the authors find that correcting false positives or false negatives alone does not reliably improve coverage, highlighting a disconnect between occupancy accuracy and planning performance. They propose a dynamic filtering strategy that retains predictions in unexplored space while suppressing unsupported occupancy based on online observations, which preliminarily shows it can steer viewpoint selection toward reachable surfaces that would otherwise remain unseen.
arXiv:2609.16075v1 Announce Type: cross Abstract: Flexible robotic production requires joint decisions on process progression, material routing, resource assignment, temporary cooperation, and simult...
The paper presents a training-free diffusion-based motion planner that replaces learned global trajectory scores with analytical local scores derived from obstacle, smoothness, velocity, and inter-agent feasibility terms. By reconstructing trajectory scores through local interactions between neighboring waypoints and nearby constraints, the method decomposes the denoising process while preserving the optimization structure of classical trajectory methods. Experiments demonstrate that this approach generates smooth, feasible trajectories for large multi-agent tasks in complex environments quickly, outperforming learning-based and optimization baselines without requiring training data.
arXiv:2607. 20289v1 Announce Type: cross Abstract: We consider a task planning scenario in which robots sharing a persistent environment are assigned tasks one at a time from a held-out sequence.
ObstaDiff is a diffusion-policy framework that introduces a lightweight obstacle-aware visual encoder to generate structured representations of targets, obstacles, and background. By aligning these representations, the policy produces end-effector trajectories that focus on a target-centered bottleneck pose while accounting for surrounding obstacles. In real-robot greenhouse trials, ObstaDiff achieved a 75.41% task success rate and an 8.20% obstacle collision rate, outperforming existing imitation-learning baselines in cluttered agricultural settings.
arXiv:2609.14567v1 Announce Type: cross Abstract: Reinforcement learning (RL) has shown considerable promise for robotic decision-making, yet deploying multi-agent RL (MARL) on physical multi-robot s...
arXiv:2606. 19729v2 Announce Type: replace-cross Abstract: Planning under uncertainty is an essential capability for autonomous robots.
arXiv:2609.13083v2 Announce Type: replace-cross Abstract: In urban search and rescue, articulated tracked robots (ATRs) must traverse structured but contact-rich environments such as stairwells and c...
arXiv:2606. 16480v1 Announce Type: cross Abstract: Robots deployed in the real world must plan motions across diverse scenarios without per-scenario retuning.