ESV-Planner

This work has been accepted by IROS 2025.

📄 Paper: Efficient Swept Volume-Based Trajectory Generation for Arbitrary-Shaped Ground Robot Navigation

Author: Yisheng Li*, Longji Yin*, Yixi Cai, Jianheng Liu, Fangcheng Zhu, Mingpu Ma, Siqi Liang, Haotian Li, Fu Zhang

⚠️ Code Release: The implementation will be released around February 2026. The author is currently developing the next research project and the thesis.

[Watch the demo video] https://github.com/user-attachments/assets/9411e06e-1468-4921-9327-548d1de9693e