A vision-guided, optimization-based planner that refines coarse paths into fine, collision-free trajectories lets two robot arms transport objects in cluttered, partially unmodeled environments.
Manipulation planning on constraint manifolds,
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MPC-based Coarse-to-Fine Motion Planning for Robotic Object Transportation in Cluttered Environments
A vision-guided, optimization-based planner that refines coarse paths into fine, collision-free trajectories lets two robot arms transport objects in cluttered, partially unmodeled environments.