A contact-aware trajectory optimizer, CAMP, plans paths where robots push movable objects, raising navigation and rearrangement success rates versus a contact-avoidance baseline.
Feedback control of the pusher-slider system: A story of hybrid and under- actuated contact dynamics,
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Contact-Aware Motion Planning Among Movable Objects
A contact-aware trajectory optimizer, CAMP, plans paths where robots push movable objects, raising navigation and rearrangement success rates versus a contact-avoidance baseline.