Preprint
Oct 2026
PATACON: GPU-Parallel Tangent-Bundle RRT-Connect for Constrained Motion Planning
Fast whole-body motion planning enables continuous replanning for humanoid robots in dynamic environments while satisfying collision avoidance and kinematic constraints. However, constrained motion planning incurs substantial computational cost due to repeated constraint projection in addition to collision checking and...
Gahyun Oh, Jun-Hong An, Suhyun Jeon et al.
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