A QP-based controller combining time-varying control barrier and Lyapunov functions with configuration-space distance fields achieves velocity-aware, collision-free whole-body motion for manipulators.
Coupled mobile manipulation via trajectory optimization with free space decomposition,
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Safe Dynamic Motion Generation in Configuration Space Using Differentiable Distance Fields
A QP-based controller combining time-varying control barrier and Lyapunov functions with configuration-space distance fields achieves velocity-aware, collision-free whole-body motion for manipulators.