Tao Sun

CHORD: Closed-Loop Hierarchical Motion Planning for Multi-Robot Systems via Diffusion Transformers and Density-Informed DMPC

Large-scale multi-robot trajectory planning faces significant challenges in computational efficiency, scalability, trajectory quality, and safety, especially in complex, obstacle-dense environments. To address this, we propose CHORD, a hierarchical generative framework for multi-robot motion planning. At the macroscopi...