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Author

Michal Kleinbort

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Jul 2026

Manifold-Guided Motion Planning for Tight Assemblies

This work introduces Critical-Manifold Guided RRT (CMG-RRT), a sampling-based planner designed specifically for tight assembly problems and proves that CMG-RRT is probabilistically complete under standard clearance assumptions.

Dror Livnat, Michael M. Bilevich, Michal Kleinbort et al. · 0 citations

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