An SOS-certified adaptive Bug2 planner using second-order IK approximation and the S-procedure achieves zero joint-limit violations and 100% goal success across 94 adversarial test scenarios.
Finding locally optimal, collision-free trajectories with sequential convex optimization
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Verified Task-Space Motion Planning Under Joint-Space Constraints
An SOS-certified adaptive Bug2 planner using second-order IK approximation and the S-procedure achieves zero joint-limit violations and 100% goal success across 94 adversarial test scenarios.