{"id":"https://openalex.org/W7223045885","doi":"https://doi.org/10.48550/arxiv.2610.25024","title":"Learning Waypoints and Passage Events for Decentralized Multi-Quadrotor Trajectory Planning","display_name":"Learning Waypoints and Passage Events for Decentralized Multi-Quadrotor Trajectory Planning","publication_year":2026,"publication_date":"2026-10-18","ids":{"openalex":"https://openalex.org/W7223045885","doi":"https://doi.org/10.48550/arxiv.2610.25024"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2610.25024","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2610.25024","pdf_url":"https://arxiv.org/pdf/2610.25024","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2610.25024","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5159126987","display_name":"Yunhan Shi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shi, Yunhan","raw_affiliation_strings":["School of Astronautics , Beihang University , Beijing 100191 , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Astronautics , Beihang University , Beijing 100191 , China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5159115912","display_name":"Jia Deng","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Deng, Jia","raw_affiliation_strings":["Astroup(Beijing) Technology Co. , Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Astroup(Beijing) Technology Co. , Ltd","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104103814","display_name":"Zehao Jia","orcid":"https://orcid.org/0009-0003-6451-3294","observed_orcids":["https://orcid.org/0009-0003-6451-3294"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jia, Zehao","raw_affiliation_strings":["Astroup(Beijing) Technology Co. , Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Astroup(Beijing) Technology Co. , Ltd","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5159150728","display_name":"Lin Cheng","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng, Lin","raw_affiliation_strings":["School of Astronautics , Beihang University , Beijing 100191 , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Astronautics , Beihang University , Beijing 100191 , China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018918616","display_name":"Shengping Gong","orcid":"https://orcid.org/0000-0002-1910-2918","observed_orcids":["https://orcid.org/0000-0002-1910-2918"]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gong, Shengping","raw_affiliation_strings":["School of Astronautics , Beihang University , Beijing 100191 , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Astronautics , Beihang University , Beijing 100191 , China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0019000000320374966,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.00019999999494757503,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/waypoint-prediction","display_name":"waypoint prediction","score":0.8309999704360962},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"collision avoidance","score":0.640999972820282},{"id":"https://openalex.org/keywords/rigid-body-dynamics","display_name":"rigid body dynamics","score":0.746999979019165}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7513999938964844},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5932999849319458},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5253999829292297},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.507099986076355},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.5022000074386597},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.47279998660087585},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.4230000078678131},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.40869998931884766},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4007999897003174},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.3675000071525574},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3659000098705292},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3555999994277954},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3528999984264374},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.3257000148296356},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.323199987411499},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.3208000063896179},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.3125999867916107},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3100999891757965},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.3068999946117401},{"id":"https://openalex.org/C2777047555","wikidata":"https://www.wikidata.org/wiki/Q17085041","display_name":"Terminal guidance","level":3,"score":0.3028999865055084},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.30250000953674316},{"id":"https://openalex.org/C2776061190","wikidata":"https://www.wikidata.org/wiki/Q7451805","display_name":"Separation (statistics)","level":2,"score":0.2978000044822693},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2906000018119812},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28859999775886536},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.28690001368522644},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.26930001378059387},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.2678000032901764},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.25870001316070557},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.25440001487731934},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.25440001487731934}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2610.25024","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2610.25024","pdf_url":"https://arxiv.org/pdf/2610.25024","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2610.25024","doi":"https://doi.org/10.48550/arxiv.2610.25024","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2610.25024","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2610.25024","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2610.25024","pdf_url":"https://arxiv.org/pdf/2610.25024","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7223045885.pdf","grobid_xml":"https://content.openalex.org/works/W7223045885.grobid-xml"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W2162991084","https://openalex.org/W2842089854","https://openalex.org/W3094631430","https://openalex.org/W3135798748","https://openalex.org/W3185165122","https://openalex.org/W3202883604","https://openalex.org/W3207644545","https://openalex.org/W4297510490","https://openalex.org/W4389665397","https://openalex.org/W4389925830","https://openalex.org/W4391128519","https://openalex.org/W4414757759","https://openalex.org/W4416125972","https://openalex.org/W7161939507","https://openalex.org/W7163919847"],"related_works":["https://openalex.org/W3184074274","https://openalex.org/W4414079411","https://openalex.org/W3185165122","https://openalex.org/W7168246180","https://openalex.org/W4391128519","https://openalex.org/W2971985902","https://openalex.org/W4412986136","https://openalex.org/W4310169424","https://openalex.org/W2136207702","https://openalex.org/W3171427903"],"abstract_inverted_index":{"Multi-quadrotor":[0],"passage":[1,8,47],"planning":[2],"requires":[3],"coordinated":[4],"spatial":[5,43,158],"routes":[6],"and":[7,13,25,45,69,86,91,115,159],"times":[9],"under":[10],"vehicle":[11,170],"dynamics":[12,85],"actuation":[14],"constraints.":[15],"Optimizing":[16],"these":[17],"decisions":[18],"jointly":[19],"couples":[20],"temporal":[21],"allocation,":[22],"nonlinear":[23],"motion,":[24],"inter-vehicle":[26],"interactions,":[27],"creating":[28],"a":[29,38,103],"computational":[30],"challenge":[31],"for":[32,49],"local":[33,169],"trajectory":[34,151],"generation.":[35],"We":[36],"propose":[37],"learning-optimization":[39],"framework":[40],"that":[41,156],"predicts":[42],"waypoints":[44],"ordered":[46],"events":[48,64],"independently":[50],"solved":[51],"quadrotor":[52],"planners.":[53],"A":[54],"common":[55],"physical":[56,113],"time":[57,139],"grid":[58],"aligns":[59],"the":[60,67,99,109,133,144,173],"vehicles,":[61],"with":[62,148],"intermediate":[63],"fixed":[65],"by":[66,129],"networks":[68,97],"terminal":[70],"progress":[71],"optimized":[72],"locally":[73],"to":[74,94,132],"permit":[75],"different":[76],"completion":[77,92,126],"metrics.":[78],"Differentiable":[79],"sequential":[80],"convex":[81],"programming":[82],"incorporates":[83],"rigid-body":[84,165],"rotor-thrust":[87],"bounds,":[88],"allowing":[89],"collision":[90],"gradients":[93],"train":[95],"both":[96],"through":[98],"generated":[100],"trajectories.":[101],"In":[102],"two-quadrotor":[104],"evaluation":[105],"across":[106],"24":[107],"layouts,":[108],"adapted":[110],"policy":[111],"passes":[112],"feasibility":[114],"sampled":[116],"separation":[117],"checks":[118],"in":[119,172],"all":[120],"five":[121],"held-out":[122,145],"layouts.":[123],"Their":[124],"mean":[125],"metric":[127],"decreases":[128],"1.52%":[130],"relative":[131],"inherited":[134],"policy.":[135],"The":[136],"median":[137],"forward":[138],"is":[140],"21.01":[141],"ms":[142],"on":[143],"exchange":[146],"layout":[147],"matching":[149],"numerical":[150],"references.":[152],"These":[153],"results":[154],"demonstrate":[155],"learned":[157],"event":[160],"parameters":[161],"can":[162],"coordinate":[163],"independent":[164],"planners":[166],"while":[167],"preserving":[168],"constraints":[171],"evaluated":[174],"scenarios.":[175]},"counts_by_year":[],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2026-10-21T00:00:00"}
