A bi-level optimization method with a convex closed-form low-level subproblem computes locally time-optimal dual-arm joint trajectories for constant-speed relative path tracking under joint limits.
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A Bi-Level Optimization Method for Redundant Dual-Arm Minimum Time Problems
A bi-level optimization method with a convex closed-form low-level subproblem computes locally time-optimal dual-arm joint trajectories for constant-speed relative path tracking under joint limits.