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cs.RO2023
A Novel Planning Framework for Complex Flipping Manipulation of Multiple Mobile Manipulators
Wenhang Liu, Meng Ren, Kun Song +2
During complex object manipulation, manipulator systems often face the configuration disconnectivity problem due to closed-chain constraints. Although regrasping can be adopted to…
cs.RO2023
FHT-Map: Feature-based Hierarchical Topological Map for Relocalization and Path Planning
Kun Song, Wenhang Liu, Gaoming Chen +2
Topological maps are favorable for their small storage compared to geometric map. However, they are limited in relocalization and path planning capabilities. To solve this problem,…