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cs.RO2025
MO-SeGMan: Rearrangement Planning Framework for Multi Objective Sequential and Guided Manipulation in Constrained Environments
Cankut Bora Tuncer, Marc Toussaint, Ozgur S. Oguz
In this work, we introduce MO-SeGMan, a Multi-Objective Sequential and Guided Manipulation planner for highly constrained rearrangement problems. MO-SeGMan generates object placeme…
cs.RO2025
An Optimization-Augmented Control Framework for Single and Coordinated Multi-Arm Robotic Manipulation
Melih Özcan, Ozgur S. Oguz
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequen…