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cs.RO2026
Homotopy-Aware Corridor Generation without Predefined Reference Paths
Haoze Dong, Minghan Li, Meng Guo +1
Generating safe corridors is essential for collision-free robotic motion planning, yet most existing methods rely on predefined reference paths, which bias corridor geometry and im…
cs.RO2025
Homotopy-aware Multi-agent Navigation via Distributed Model Predictive Control
Haoze Dong, Meng Guo, Chengyi He +1
Multi-agent trajectory planning requires ensuring both safety and efficiency, yet deadlocks remain a significant challenge, especially in obstacle-dense environments. Such deadlock…
cs.RO2024
Asynchronous Spatial-Temporal Allocation for Trajectory Planning of Heterogeneous Multi-Agent Systems
Yuda Chen, Haoze Dong, Zhongkui Li
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchron…