A conflict-based kinodynamic planner for rigidly coupled robot teams that alternates between stacked and minimal state representations and claims completeness and asymptotic optimality.
Motion planning for multi-mobile- manipulator payload transport systems,
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pc-dbCBS: Kinodynamic Motion Planning of Physically-Coupled Robot Teams
A conflict-based kinodynamic planner for rigidly coupled robot teams that alternates between stacked and minimal state representations and claims completeness and asymptotic optimality.