Trajectory optimization for multi-robot systems remains a critical challenge, particularly when navigating highly non-convex, non-linear, and non-differentiable environments. While Model-Based Diffusion (MBD) has recently emerged as a promising sampling-based optimization paradig…
Autonomous exploration in unknown environments is typically driven by informative frontiers, viewpoints, or trajectories, while local safety controllers avoid obstacles represented in the current map. Under finite sensing range and limited field of view, this separation can be un…