Whole-body planning and high-order CBF control framework for aerial manipulators using superquadric representations, with simulation outperformance over sampling and ellipsoid baselines plus hardware validation.
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Whole-body motion planning and safety-critical control for aerial manipulation
Whole-body planning and high-order CBF control framework for aerial manipulators using superquadric representations, with simulation outperformance over sampling and ellipsoid baselines plus hardware validation.