A hierarchical framework decomposes trajectory planning for articulated aerial robots into global anchor states and parallel local optimization to produce collision-free, dynamically feasible paths directly from point clouds.
Sampling-Based Algorithms for Optimal Motion Planning,
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Hierarchical Trajectory Planning of Floating-Base Multi-Link Robot for Maneuvering in Confined Environments
A hierarchical framework decomposes trajectory planning for articulated aerial robots into global anchor states and parallel local optimization to produce collision-free, dynamically feasible paths directly from point clouds.