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Xucheng Liu

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Aug 2026

New Obstacle Avoidance Motion Planning: A Safe Koopman Planning Method.

The Safe-Koopman Framework is introduced, an operator-theoretic motion planning method that generalizes obstacle-free demonstrations to planar planning tasks with obstacles and avoids collisions observed in the unconstrained Koopman baseline.

Xucheng Liu, Ruiqi Ke, Yandong Wang et al. · 0 citations