diffusion models 2adaptive scheduling 1collision avoidance 1constrained optimization 1motion planning 1multi-robot motion planning 1optimal control 1safety constraints 1safety enforcement 1
From the 2 of 2 linked papers with an AI index.
2 papers
cs.RO2026
Motion Planning with Model-Based Diffusion via Constraint Optimization and Adaptive Scheduling
Zhilin He, Bowei Li, Jianlin Dou +2
The paper introduces MD-COAS, a method that combines soft diffusion priors with hard projection operators and adaptively schedules safety enforcement to improve single-robot motion…
cs.RO2026
Model-Based Diffusion Optimal Control for Multi-Robot Motion Planning
Zhilin He, Yorai Shaoul, Jiaoyang Li
The paper proposes Model-Based Diffusion Optimal Control (MDOC), a planner that generates dynamically feasible, collision‑free trajectories for multiple robots without needing demo…