{"paper":{"title":"DK-RRT: Deep Koopman RRT for Collision-Aware Motion Planning of Space Manipulators in Dynamic Debris Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Boli Zhang, Dezhi YU, Kangtong Mo, Qi Chen, Rui Liu","submitted_at":"2025-07-05T03:29:39Z","abstract_excerpt":"Trajectory planning for robotic manipulators operating in dynamic orbital debris environments poses significant challenges due to complex obstacle movements and uncertainties. This paper presents Deep Koopman RRT (DK-RRT), an advanced collision-aware motion planning framework integrating deep learning with Koopman operator theory and Rapidly-exploring Random Trees (RRT). DK-RRT leverages deep neural networks to identify efficient nonlinear embeddings of debris dynamics, enhancing Koopman-based predictions and enabling accurate, proactive planning in real-time. By continuously refining predicti"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.03878","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2507.03878/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}