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cs.RO2026
Real-time Whole-Body Motion Planning for Mobile Manipulators Carrying Arbitrarily Shaped Payloads via Kinematically-Coupled SVSDF
Yisheng Li, Longji Yin, Tingrui Zhang +6
Mobile manipulators are increasingly tasked with transporting large, non-convex payloads through cluttered environments, yet existing planners either oversimplify the payload geome…
cs.RO2026
D-BDM: A Direct and Efficient Boundary-Based Occupancy Grid Mapping Framework for LiDARs
Benxu Tang, Yixi Cai, Fanze Kong +2
Efficient and scalable 3D occupancy mapping is essential for autonomous robot applications in unknown environments. However, traditional occupancy grid representations suffer from…
cs.RO2026
Memory-Efficient Boundary Map for Large-Scale Occupancy Grid Mapping
Benxu Tang, Yunfan Ren, Yixi Cai +6
Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivid…