Distributed Motion Planning for Multi-Robot Systems under Topological Constraints

arXiv:2610.10065 · cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.RO

Submitted: 2026-10-07

Updated: 2026-10-07

Code: https://github.com/gbattocletti/braid-controller

Terminology

• Entanglement — 6× in this paper · explained in 4 episodes
• Model Predictive Control — 3× in this paper
• Decoupling — 2× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Elias — 1× in this paper · explained in 2 episodes
• Grid-based Braid Controller — 1× in this paper
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Persistent Homology — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• Symmetry-Breaking in Multi-Agent Navigation: Winding Number-Aware MPC with a Learned Topological Strategy
• Efficient Search of the k Shortest Non-Homotopic Paths by Eliminating Non-k-Optimal Topologies

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