Paper Citation Record · LEDGER

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer

As of 9 August 2026, this Paper Citation Record lists 36 of 36 outbound references and 1 inbound Pith citation observation for arXiv:2505.15679.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2505.15679 v1

Coverage vector

measured 36 of 36 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-07T15:15:28.408893Z

measured 37 of 37 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-09T06:31:02.800959+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-05-18T14:41:49.278471Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: arxiv_reference, observed 2026-05-18T14:42:42.013793Z

Reference resolution

36 of 36 outbound references displayed

verified exact0
verified fuzzy30
unresolved6
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 449e82b1-b7e8-4df5-8888-b516b274a21f · outbound

This paper cites Is conditional gen- erative modeling all you need for decision making? In The Eleventh International Conference on Learning Representa- tions, 2023.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Is conditional gen- erative modeling all you need for decision making? In The Eleventh International Conference on Learning Representa- tions, 2023

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:32.873977Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 97628fc7-6036-4dd3-9353-6036b1b600ff · outbound

This paper cites Multi- robot formation control and object transport in dynamic en- vironments via constrained optimization.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Multi- robot formation control and object transport in dynamic en- vironments via constrained optimization

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:32.780674Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 300e8eeb-df83-4ed2-9b5a-32328ad9c888 · outbound

This paper cites Decentralized control of multiagent systems using local den- sity feedback.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Decentralized control of multiagent systems using local den- sity feedback

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:32.653390Z

Source-reported events for the cited work

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Observation 8253b063-fe04-4802-a434-6b71b7932306 · outbound

This paper cites Motion planning diffusion: Learning and planning of robot motions with diffusion models.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Motion planning diffusion: Learning and planning of robot motions with diffusion models

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:32.570441Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation c7a4e1d2-6268-4af9-8848-060abdc89786 · outbound

This paper cites Decision transformer: Reinforce- ment learning via sequence modeling.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Decision transformer: Reinforce- ment learning via sequence modeling

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:32.474257Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation d8726c4c-97a8-47c1-8100-e13621b7b113 · outbound

This paper cites Density control of interacting agent systems.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Density control of interacting agent systems

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:32.305761Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 95877f16-bde5-4cbd-a9f1-fb4250534175 · outbound

This paper cites Optimal transport for Gaussian mixture models.IEEE Access, 7:6269–6278, 2018.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Optimal transport for Gaussian mixture models.IEEE Access, 7:6269–6278, 2018

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:32.079070Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 1448f87a-a6a9-40ee-b180-3b8a76b1638a · outbound

This paper cites Decentralized navigation of multiple agents based on orca and model predictive control.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Decentralized navigation of multiple agents based on orca and model predictive control

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:31.885488Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation ee318ca5-620f-4279-bc81-c0cc445d2f9e · outbound

This paper cites Diffusion policy: Visuomotor policy learning via action dif- fusion.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Diffusion policy: Visuomotor policy learning via action dif- fusion

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:31.718679Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 251580c7-68a5-450c-aaa6-be3302689937 · outbound

This paper cites Search and res- cue with sparsely connected swarms.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Search and res- cue with sparsely connected swarms

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:31.509100Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation af9d5be5-e28e-4b4f-ad6d-788356945faf · outbound

This paper cites Flashattention: Fast and memory-efficient exact at- tention with io-awareness.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Flashattention: Fast and memory-efficient exact at- tention with io-awareness

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:31.327171Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 8ca8efb1-ced0-49f0-9c32-f4dadd421c83 · outbound

This paper cites Computing large convex re- gions of obstacle-free space through semidefinite program- ming.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Computing large convex re- gions of obstacle-free space through semidefinite program- ming

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:31.166015Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation f2b910d2-08b2-422c-98c2-6e8b44383c31 · outbound

This paper cites A wasserstein-type dis- tance in the space of gaussian mixture models.SIAM Journal on Imaging Sciences, 13(2):936–970, 2020.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer A wasserstein-type dis- tance in the space of gaussian mixture models.SIAM Journal on Imaging Sciences, 13(2):936–970, 2020

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:31.029648Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation b18ee41e-408d-4dd2-9e2c-f05b76d93aa7 · outbound

This paper cites Swarm robotics: Past, present, and future [point of view].

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Swarm robotics: Past, present, and future [point of view]

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:30.807792Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 51549604-ea94-4636-81b6-830902feecaa · outbound

This paper cites Denoising diffu- sion probabilistic models, 2020.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Denoising diffu- sion probabilistic models, 2020

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:30.610531Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 373a1f9e-5d3c-47fc-8a91-12a0aebe6503 · outbound

This paper cites Swarm- prm: Probabilistic roadmap motion planning for large-scale swarm robotic systems.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Swarm- prm: Probabilistic roadmap motion planning for large-scale swarm robotic systems

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:30.464009Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 5904be22-917f-4c20-8ca2-0b7601788f8a · outbound

This paper cites Offline re- inforcement learning as one big sequence modeling prob- lem.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Offline re- inforcement learning as one big sequence modeling prob- lem

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:30.259269Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation a7a6390d-6168-4a7b-9b24-0ae30952109e · outbound

This paper cites Planning with Diffusion for Flexible Behavior Synthesis.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Planning with Diffusion for Flexible Behavior Synthesis

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-07T15:15:27.469554Z

Source-reported events for the cited work

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Observation e536b22c-b70f-40d0-a7e5-6c35b05aa00d · outbound

This paper cites Analyzing and improv- ing the image quality of stylegan.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Analyzing and improv- ing the image quality of stylegan

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-07T15:15:27.523622Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f9fe1ebc-e5af-45e2-88ba-48ed4ef52a39 · outbound

This paper cites Optimal virtual tube planning and control for swarm robotics.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Optimal virtual tube planning and control for swarm robotics

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:30.119142Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 890bd10e-a3ef-40e5-8a1d-7f59794288e6 · outbound

This paper cites Tube rrt*: Effi- cient homotopic path planning for swarm robotics passing- through large-scale obstacle environments.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Tube rrt*: Effi- cient homotopic path planning for swarm robotics passing- through large-scale obstacle environments

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:29.997344Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation afa397c6-039f-4bda-b890-2217ce15654f · outbound

This paper cites McGuire, Christophe de Wagter, Karl Tuyls, Hilbert J.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer McGuire, Christophe de Wagter, Karl Tuyls, Hilbert J

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:29.866857Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 480bd80f-3c93-47fd-bd8a-4b5fe0f6d997 · outbound

This paper cites Continuous-time gaussian process motion planning via probabilistic inference.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Continuous-time gaussian process motion planning via probabilistic inference

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:29.790699Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation d1a2bbac-a35c-4a99-92ea-b364cb09e014 · outbound

This paper cites Metadiffuser: Diffusion model as conditional planner for offline meta-rl.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Metadiffuser: Diffusion model as conditional planner for offline meta-rl

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:29.643934Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation f43da856-3d31-4514-b8cf-c598e3921a35 · outbound

This paper cites an unresolved cited work.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Unresolved cited work

Reference 25

Resolution: unresolved; raw_fallback, observed 2026-08-07T15:15:29.498486Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 519c59e9-f7ea-4a2b-859b-1f84ce15979f · outbound

This paper cites Scalable diffusion models with transformers.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Scalable diffusion models with transformers

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-07T15:15:27.933479Z

Source-reported events for the cited work

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Observation 40aafe4f-54bf-4ea7-b3ce-5b4b5f6235d3 · outbound

This paper cites Autoregressive denoising diffusion models for mul- tivariate probabilistic time series forecasting.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Autoregressive denoising diffusion models for mul- tivariate probabilistic time series forecasting

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:29.333924Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation c6be905c-c7e5-40a3-8aa8-ca97736175c1 · outbound

This paper cites Multi-Robot Motion Planning with Diffusion Models.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Multi-Robot Motion Planning with Diffusion Models

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-07T15:15:28.052811Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4bb59316-3010-465b-a6eb-49c0e4c1ec03 · outbound

This paper cites drrt*: Scalable and informed asymptotically-optimal multi-robot motion planning.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer drrt*: Scalable and informed asymptotically-optimal multi-robot motion planning

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:29.227313Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 09bbcf8f-b84f-4b62-9fa3-178a708a2cbe · outbound

This paper cites Deep unsupervised learning using nonequilibrium thermodynamics.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Deep unsupervised learning using nonequilibrium thermodynamics

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-07T15:15:28.143766Z

Source-reported events for the cited work

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Observation 49e60ccb-5da0-4339-bae7-ad9f9c5edc56 · outbound

This paper cites Dis- tributed predictive drone swarms in cluttered environments.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Dis- tributed predictive drone swarms in cluttered environments

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:29.094981Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation cec44551-0152-4212-bd82-79bf6d250aea · outbound

This paper cites Pre- dictive control of aerial swarms in cluttered environments.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Pre- dictive control of aerial swarms in cluttered environments

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:28.976708Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 3797f173-86a2-430f-a12f-a49ddcc69d32 · outbound

This paper cites A survey of multi- modal deep generative models.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer A survey of multi- modal deep generative models

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:28.867421Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation d626bb93-39d2-46bb-80b3-6dfc6acddf93 · outbound

This paper cites Dif- fusion policies as an expressive policy class for offline rein- forcement learning.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Dif- fusion policies as an expressive policy class for offline rein- forcement learning

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:28.785629Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation df75ca2a-db59-4e73-9a85-8438e21c5b42 · outbound

This paper cites Risk-aware non- myopic motion planner for large-scale robotic swarm using cvar constraints.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Risk-aware non- myopic motion planner for large-scale robotic swarm using cvar constraints

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:28.695393Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 46bc1c0e-5990-4249-9aee-cff4cd58399d · outbound

This paper cites Transporting robotic swarms via mean-field feedback control.

SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer Transporting robotic swarms via mean-field feedback control

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:15:28.623947Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Pith citing papers

Observation 7c0d7537-19be-44e6-b927-438acd087c38 · inbound

Scalable Multi Agent Diffusion Policies for Coverage Control cites this paper.

Scalable Multi Agent Diffusion Policies for Coverage Control SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformer

Reference 13

Resolution: verified exact; arxiv_id, observed 2026-05-18T14:42:42.016895Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.