most citedSM2ITH: Safe Mobile Manipulation with Interactive Human Prediction via Task-Hierarchical Bilevel Model Predictive Control

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cs.RO2026★ 1 cited

SM2ITH: Safe Mobile Manipulation with Interactive Human Prediction via Task-Hierarchical Bilevel Model Predictive Control

Francesco D'Orazio, Sepehr Samavi, Xintong Du +3

Mobile manipulators are designed to perform complex sequences of navigation and manipulation tasks in human-centered environments. While recent optimization-based methods such as H…