{"ID":2860642,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.03875","arxiv_id":"2510.03875","title":"COVER:COverage-VErified Roadmaps for Fixed-time Motion Planning in Continuous Semi-Static Environments","abstract":"The ability to solve motion-planning queries within a fixed time budget is critical for deploying robotic systems in time-sensitive applications. Semi-static environments, where most of the workspace remains fixed while a subset of obstacles varies between tasks, exhibit structured variability that can be exploited to provide stronger guarantees than general-purpose planners. However, existing approaches either lack formal coverage guarantees or rely on discretizations of obstacle configurations that restrict applicability to realistic domains. This paper introduces COVER, a framework that incrementally constructs coverage-verified roadmaps for semi-static environments. COVER decomposes the arrangement space by independently partitioning the configuration space of each movable obstacle and verifies roadmap feasibility within each partition, enabling fixed-time query resolution for verified regions.We evaluate COVER on a 7-DoF manipulator performing object-picking in tabletop and shelf environments, demonstrating broader problem-space coverage and higher query success rates than prior work, particularly with obstacles of different sizes.","short_abstract":"The ability to solve motion-planning queries within a fixed time budget is critical for deploying robotic systems in time-sensitive applications. Semi-static environments, where most of the workspace remains fixed while a subset of obstacles varies between tasks, exhibit structured variability that can be exploited to...","url_abs":"https://arxiv.org/abs/2510.03875","url_pdf":"https://arxiv.org/pdf/2510.03875v2","authors":"[\"Niranjan Kumar Ilampooranan\",\"Constantinos Chamzas\"]","published":"2025-10-04T16:58:46Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}