{"id":"https://openalex.org/W7162677600","doi":"https://doi.org/10.48550/arxiv.2605.27697","title":"Simulation-Informed Diffusion for Decentralized Multi-robot Motion Planning","display_name":"Simulation-Informed Diffusion for Decentralized Multi-robot Motion Planning","publication_year":2026,"publication_date":"2026-05-26","ids":{"openalex":"https://openalex.org/W7162677600","doi":"https://doi.org/10.48550/arxiv.2605.27697"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.27697","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.27697","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.27697","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137217099","display_name":"Jinhao Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Jinhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137276694","display_name":"Sven Koenig","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Koenig, Sven","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137265653","display_name":"Ferdinando Fioretto","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fioretto, Ferdinando","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"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":0.7915999889373779,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7915999889373779,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.024399999529123306,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.015699999406933784,"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/robot","display_name":"Robot","score":0.7534000277519226},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.574999988079071},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5472000241279602},{"id":"https://openalex.org/keywords/snapshot","display_name":"Snapshot (computer storage)","score":0.5116000175476074},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.503600001335144},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.41200000047683716},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.392300009727478},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.3901999890804291}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7534000277519226},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6248999834060669},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.574999988079071},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5472000241279602},{"id":"https://openalex.org/C55282118","wikidata":"https://www.wikidata.org/wiki/Q252683","display_name":"Snapshot (computer storage)","level":2,"score":0.5116000175476074},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.503600001335144},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.41200000047683716},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.392300009727478},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.3901999890804291},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3693000078201294},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3560999929904938},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.33469998836517334},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.3305000066757202},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.31859999895095825},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2996000051498413},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.29580000042915344},{"id":"https://openalex.org/C2989549987","wikidata":"https://www.wikidata.org/wiki/Q350882","display_name":"Route planning","level":2,"score":0.28859999775886536},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2883000075817108},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.2639000117778778},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2563999891281128},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.25619998574256897}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.27697","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.27697","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.27697","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.27697","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.7364497184753418,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Decentralized":[0],"multi-robot":[1],"motion":[2],"planning":[3,156],"requires":[4],"each":[5,110],"robot":[6],"to":[7,42,89,108,163],"generate":[8,28],"collision-free":[9],"trajectories":[10,29,93],"from":[11,30,97],"local":[12,36],"observations,":[13],"without":[14],"global":[15],"sensing":[16],"or":[17,26],"reliable":[18],"communication.":[19],"However,":[20],"most":[21],"existing":[22],"planners,":[23],"whether":[24],"classical":[25],"learning-based,":[27],"a":[31,76,128],"static":[32],"snapshot":[33],"of":[34,47,57,94,125,155],"the":[35,44,55,61,91,105,122],"observation,":[37],"which":[38],"limits":[39],"their":[40,98],"ability":[41],"anticipate":[43],"future":[45,92],"behavior":[46],"neighboring":[48,95],"robots.":[49],"This":[50],"limitation":[51],"is":[52],"critical":[53],"as":[54],"number":[56],"robots":[58,96,167],"increases":[59],"and":[60,102,158,161,168],"environment":[62],"becomes":[63],"more":[64],"cluttered.":[65],"To":[66],"overcome":[67],"this":[68,70],"challenge,":[69],"paper":[71],"introduces":[72],"Simulation-Informed":[73],"Diffusion":[74],"(SID),":[75],"decentralized":[77],"framework":[78],"built":[79],"on":[80],"constraint-aware":[81],"diffusion":[82],"models":[83],"(CADM).":[84],"SID":[85,148],"first":[86],"uses":[87,104],"CADM":[88,107],"simulate":[90],"currently":[99],"observed":[100],"states,":[101],"then":[103],"same":[106],"plan":[109],"robot's":[111],"own":[112],"trajectory":[113],"under":[114],"safety":[115],"constraints":[116],"informed":[117],"by":[118],"these":[119],"simulations.":[120],"Crucially,":[121],"accurate":[123],"simulation":[124],"neighbors":[126],"enables":[127],"minimal":[129],"communication":[130],"scheme":[131],"that":[132,147],"triggers":[133],"coordination":[134],"only":[135],"when":[136],"necessary":[137],"in":[138,153],"highly":[139],"congested":[140],"scenarios.":[141],"Experiments":[142],"across":[143],"diverse":[144],"environments":[145],"show":[146],"consistently":[149],"outperforms":[150],"baseline":[151],"methods":[152],"terms":[154],"effectiveness":[157],"constraint":[159],"satisfaction,":[160],"scales":[162],"scenarios":[164],"with":[165],"108":[166],"160":[169],"obstacles.":[170]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-29T00:00:00"}
