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cs.RO2026
Autonomous Block Assembly for Boom Cranes with Passive Joint Dynamics: Integrated Vision MPC Control
Gerald Ebmer, Minh Nhat Vu, Tobias Glück +1
This paper presents an autonomous control framework for articulated boom cranes performing prefabricated block assembly in construction environments. The key challenge addressed is…
cs.RO2026
A Collision-Free Sway Damping Model Predictive Controller for Safe and Reactive Forestry Crane Navigation
Marc-Philip Ecker, Christoph Fröhlich, Johannes Huemer +4
Forestry cranes operate in dynamic, unstructured outdoor environments where simultaneous collision avoidance and payload sway control are critical for safe navigation. Existing app…
cs.RO2025
Efficient Collision Detection for Long and Slender Robotic Links in Euclidean Distance Fields: Application to a Forestry Crane
Marc-Philip Ecker, Bernhard Bischof, Minh Nhat Vu +3
Collision-free motion planning in complex outdoor environments relies heavily on perceiving the surroundings through exteroceptive sensors. A widely used approach represents the en…