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cs.AI2025
GHOST: Solving the Traveling Salesman Problem on Graphs of Convex Sets
Jingtao Tang, Hang Ma
We study GCS-TSP, a new variant of the Traveling Salesman Problem (TSP) defined over a Graph of Convex Sets (GCS) -- a powerful representation for trajectory planning that decompos…
cs.RO2025
Space-Time Graphs of Convex Sets for Multi-Robot Motion Planning
Jingtao Tang, Zining Mao, Lufan Yang +1
We address the Multi-Robot Motion Planning (MRMP) problem of computing collision-free trajectories for multiple robots in shared continuous environments. While existing frameworks…