# Tube RRT*: Efficient Homotopic Path Planning for Swarm Robotics Passing-Through Large-Scale Obstacle Environments

arXiv: https://arxiv.org/abs/2404.09200 · HTML: https://mlsanity.com/paper/2404.09200/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Apr 2024.

## Built on by (most cited first, 1 of 1)

- [SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer](https://mlsanity.com/paper/2505.15679/) (2025)

## Abstract (arXiv)

Recently, the concept of homotopic trajectory planning has emerged as a novel solution to navigation in large-scale obstacle environments for swarm robotics, offering a wide ranging of applications. However, it lacks an efficient homotopic path planning method in large-scale obstacle environments. This paper introduces Tube RRT*, an innovative homotopic path planning method that builds upon and improves the Rapidly-exploring Random Tree (RRT) algorithm. Tube RRT* is specifically designed to generate homotopic paths, strategically considering gap volume and path length to mitigate swarm congestion and ensure agile navigation. Through comprehensive simulations and experiments, the effectiveness of Tube RRT* is validated.