Author

Kang Ding

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2026

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...

Kang Ding, Chun-Xuan Jiao, Yun-Ze Hu et al. · IEEE Transactions on Automat... · 0 citations

2026

CoIN: Interactive Navigation With Counterfactual Reasoning via Vision–Language Models

Interactive navigation requires robots to actively modify cluttered environments to create traversable paths, going beyond passive obstacle avoidance. However, existing methods either depend on global maps and lack the reasoning capabilities to make interaction decisions from local observations, or are restricted to in...

Kang-Jie Zhou, Zhe-Jia Wen, Zhi-Yong Zhuo et al. · IEEE Transactions on Automat... · 0 citations

Jul 2026

PrismAD: Decoupled Planning via Semantic Mixture-of-Planners for End-to-End Autonomous Driving

This letter presents PrismAD, a decoupled end-to-end autonomous driving framework based on a Semantic Mixture-of-Planners that exhibits competitive performance on the nuScenes open-loop dataset and NeuroNCAP closed-loop benchmark.

Kang Ding, Zhi-Gui Lin, Hongsong Wang et al. · arXiv.org · 0 citations