arXiv:2604.00320v1 Announce Type: new
Abstract: Autonomous motion planning under unknown nonlinear dynamics requires learning system properties while navigating toward a target. In this work, we develop a hierarchical planning-control framework that e…
arXiv:2604.00061v1 Announce Type: new
Abstract: Imagine advanced humanoid robots, powered by multimodal large language models (MLLMs), coordinating missions across industries like warehouse logistics, manufacturing, and safety rescue. While individual…
arXiv:2604.00391v1 Announce Type: new
Abstract: Diffusion-based trajectory optimization has emerged as a powerful planning paradigm, but existing methods require either learned score networks trained on large datasets or analytical dynamics models for…
arXiv:2604.00439v1 Announce Type: new
Abstract: This paper studies tracking of collision-free waypoint paths produced by an offline planner for a planar double-integrator system with bounded speed and acceleration. Because sampling-based planners must…
arXiv:2512.02079v2 Announce Type: replace
Abstract: Coordinating emergency responses in extreme environments, such as wildfires, requires resilient and high-bandwidth communication backbones. While autonomous aerial swarms can establish ad-hoc network…
arXiv:2603.29050v1 Announce Type: cross
Abstract: Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain. Standard control approaches typically assume no-slip contact and therefore degrade when slip occur…
arXiv:2603.29560v1 Announce Type: cross
Abstract: We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high …
arXiv:2603.29512v1 Announce Type: new
Abstract: The reliable operation of Unmanned Underwater Vehicle (UUV) clusters is highly dependent on continuous acoustic communication. However, this communication method is highly susceptible to intermittent int…
arXiv:2512.19576v4 Announce Type: replace-cross
Abstract: Attitude control is essential for many satellite missions. Classical controllers, however, are time-consuming to design and sensitive to model uncertainties and variations in operational bounda…
arXiv:2603.29708v1 Announce Type: new
Abstract: Robots operating in human-centric environments must be both robust to disturbances and provably safe from collisions. Achieving these properties simultaneously and efficiently remains a central challenge…