3 papers
cs.RO2026
db-LaCAM: Fast and Scalable Multi-Robot Kinodynamic Motion Planning with Discontinuity-Bounded Search and Lightweight MAPF
Akmaral Moldagalieva, Keisuke Okumura, Amanda Prorok +1
State-of-the-art multi-robot kinodynamic motion planners struggle to handle more than a few robots due to high computational burden, which limits their scalability and results in s…
cs.RO2025
db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning
Akmaral Moldagalieva, Joaquim Ortiz-Haro, Wolfgang Hönig
This paper presents a multi-robot kinodynamic motion planner that enables a team of robots with different dynamics, actuation limits, and shapes to reach their goals in challenging…
cs.RO2025
Accelerating db-A* for Kinodynamic Motion Planning Using Diffusion
Julius Franke, Akmaral Moldagalieva, Pia Hanfeld +1
We present a novel approach for generating motion primitives for kinodynamic motion planning using diffusion models. The motions generated by our approach are adapted to each probl…