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…