A spatial-domain reactive controller that propagates control along the robot's kinematic chain and enforces link-specific collision constraints shows better task completion in cluttered mobile manipulation tasks.
Collision-free trajectory optimization in cluttered environments using sums-of-squares programming,
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Local Reactive Control for Mobile Manipulators with Whole-Body Safety in Complex Environments
A spatial-domain reactive controller that propagates control along the robot's kinematic chain and enforces link-specific collision constraints shows better task completion in cluttered mobile manipulation tasks.