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cs.RO2026
Conformal Constraint Tightening for Chance-Constrained Motion Planning with Unknown Dynamics
Shubham Natraj, Bruno Sinopoli, Yiannis Kantaros
Motion planning algorithms compute control sequences that drive autonomous robots to goal regions while avoiding unsafe states. Existing methods, from sampling-based planning to de…
cs.RO2025
Deadlock-Free Hybrid RL-MAPF Framework for Zero-Shot Multi-Robot Navigation
Haoyi Wang, Licheng Luo, Yiannis Kantaros +2
Multi-robot navigation in cluttered environments presents fundamental challenges in balancing reactive collision avoidance with long-range goal achievement. When navigating through…
cs.RO2025
Conformalized Non-uniform Sampling Strategies for Accelerated Sampling-based Motion Planning
Shubham Natraj, Bruno Sinopoli, Yiannis Kantaros
Sampling-based motion planners (SBMPs) are widely used to compute dynamically feasible robot paths. However, their reliance on uniform sampling often leads to poor efficiency and s…