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cs.RO2025
Phasing Through the Flames: Rapid Motion Planning with the AGHF PDE for Arbitrary Objective Functions and Constraints
Challen Enninful Adu, César E. Ramos Chuquiure, Yutong Zhou +5
The generation of optimal trajectories for high-dimensional robotic systems under constraints remains computationally challenging due to the need to simultaneously satisfy dynamic…
cs.RO2025
Provably-Safe, Online System Identification
Bohao Zhang, Zichang Zhou, Ram Vasudevan
Precise manipulation tasks require accurate knowledge of payload inertial parameters. Unfortunately, identifying these parameters for unknown payloads while ensuring that the robot…