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cs.RO2024
Rigid Body Path Planning using Mixed-Integer Linear Programming
Mingxin Yu, Chuchu Fan
Navigating rigid body objects through crowded environments can be challenging, especially when narrow passages are presented. Existing sampling-based planners and optimization-base…
cs.RO2024
Efficient Motion Planning for Manipulators with Control Barrier Function-Induced Neural Controller
Mingxin Yu, Chenning Yu, M-Mahdi Naddaf-Sh +3
Sampling-based motion planning methods for manipulators in crowded environments often suffer from expensive collision checking and high sampling complexity, which make them difficu…