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cs.RO2025
Delayed Expansion AGT: Kinodynamic Planning with Application to Tractor-Trailer Parking
Dongliang Zheng, Yebin Wang, Stefano Di Cairano +1
Kinodynamic planning of articulated vehicles in cluttered environments faces additional challenges arising from high-dimensional state space and complex system dynamics. Built upon…
cs.RO2025
Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion
Ziyi Zhou, Stefano Di Cairano, Yebin Wang +1
In this paper we address the simultaneous collision detection and force estimation problem for quadrupedal locomotion using joint encoder information and the robot dynamics only. W…