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cs.RO2026
An Efficient Algorithm for Minimum-Pressure Growth Planning of Vine Robots
Andres C. Torres, Tobia Marcucci, Elliot W. Hawkes
Vine robots navigate cluttered environments by extending from their tip. Although their ability to operate in such environments has been extensively demonstrated, little work has a…
cs.RO2026
Biconvex Optimization for Smooth Minimum-Time Trajectories around Convex Obstacles
Peter Werner, Tobia Marcucci, Daniela Rus
We present a biconvex approach for minimum-time motion planning around convex obstacles that is guaranteed to converge, is anytime, and supports derivative constraints to arbitrary…