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cs.RO2025
Hierarchically Accelerated Coverage Path Planning for Redundant Manipulators
Yeping Wang, Michael Gleicher
Many robotic applications, such as sanding, polishing, wiping and sensor scanning, require a manipulator to dexterously cover a surface using its end-effector. In this paper, we pr…
cs.RO2025
Anytime Planning for End-Effector Trajectory Tracking
Yeping Wang, Michael Gleicher
End-effector trajectory tracking algorithms find joint motions that drive robot manipulators to track reference trajectories. In practical scenarios, anytime algorithms are preferr…