Preprint
Aug 2026
Real-time Whole-Body Motion Planning for Mobile Manipulators Carrying Arbitrarily Shaped Payloads via Kinematically-Coupled SVSDF
Alation studies, comparative benchmarks against state-of-the-art baselines, and real-world experiments on a differential-drive mobile manipulator demonstrate that the proposed framework reliably transports large, non-convex payloads through tight passages and cluttered environments.
Yi-Sheng Li, Long-Ji Yin, Ting Zhang et al.
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