A planning and control stack that transports passive objects in microgravity through robot impacts, using STL-based MILP planning, online replanning, and MPC, with hardware validation.
Multi-robot formation control and object transport in dynamic environments via constrained optimization
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Collaborative Object Transportation in Space via Impact Interactions
A planning and control stack that transports passive objects in microgravity through robot impacts, using STL-based MILP planning, online replanning, and MPC, with hardware validation.