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Topological Motion Planning Diffusion: Generative Tangle-Free Path Planning for Tethered Robots in Obstacle-Rich Environments
Description
In extreme environments such as underwater exploration and post-disaster rescue, tethered robots require continuous navigation while avoiding cable entanglement. Traditional planners struggle in these lifelong planning scenarios due to topological unawareness, while topology-augmented graph-search methods face computational bottlenecks in obstacle-rich environments where the number of candidate topological classes increases. To address these challenges, we propose Topological Motion Planning Dif