2 papers
cs.RO2026
A receding-horizon multi-contact motion planner for legged robots in challenging environments
Daniel S. J. Derwent, Simon Watson, Bruno V. Adorno
We present a novel receding-horizon multi-contact motion planner for legged robots in challenging scenarios, able to plan motions such as chimney climbing, navigating very narrow p…
cs.RO2025
Object-Reconstruction-Aware Whole-body Control of Mobile Manipulators
Fatih Dursun, Bruno Vilhena Adorno, Simon Watson +1
Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in…