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cs.RO2025
TopAY: Efficient Trajectory Planning for Differential Drive Mobile Manipulators via Topological Paths Search and Arc Length-Yaw Parameterization
Long Xu, Choilam Wong, Mengke Zhang +3
Differential drive mobile manipulators combine the mobility of wheeled bases with the manipulation capability of multi-joint arms, enabling versatile applications but posing consid…
cs.RO2025
Efficient Trajectory Generation Based on Traversable Planes in 3D Complex Architectural Spaces
Mengke Zhang, Zhihao Tian, Yaoguang Xia +3
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabili…
cs.RO2025
Real-time Spatial-temporal Traversability Assessment via Feature-based Sparse Gaussian Process
Zhenyu Hou, Senming Tan, Zhihao Zhang +6
Terrain analysis is critical for the practical ap- plication of ground mobile robots in real-world tasks, espe- cially in outdoor unstructured environments. In this paper, we propo…