Author

M. Ornik

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#artificial intelligence Preprint Oct 2026

Akule: Fast and Scalable Multi-Robot Motion Planning via Sparse Interaction Diffusion

Diffusion models provide expressive trajectory priors for multi-robot motion planning (MRMP), but scaling them to large teams requires coordinating individual motions without expensive joint computation. We introduce Akule, a sparse interaction diffusion framework that augments a frozen single-robot prior with three le...

Manav Vora, Gokul Puthumanaillam, Aditya Penumarti et al. · 0 citations

Preprint Sep 2026

Fast Direction-Conditioned Reachability for Motion Prediction Under Model Uncertainty

To avoid collisions, a robot must repeatedly predict where nearby agents may move, usually with an imperfect model of their dynamics. Reachable sets provide such predictions, but computing them when the system matrices themselves are uncertain can become computationally expensive and conservative for frequent replannin...

Hrishav Das, M. Ornik · 0 citations

Preprint Sep 2026

Risk-Aware Motion Planning and Control under Unknown Dynamics with Hybrid Observations

This work addresses blind regions by selecting nominal dynamics and precomputing open-loop control sequences before observation is lost, and guides the robot from an initial state to a target while balancing route efficiency and the risks associated with traversing blind regions.

Zhi-Quan Zhang, M. Ornik · 0 citations