2 papers
cs.RO2026
RMRRT: Riemannian Barrier Metric RRT for Inequality-Aware Steering on Equality Manifolds
Minhyeong Kang, Sanghyun Kim
This paper presents a motion planning framework that unifies equality and inequality constraints within a single geometric formulation for sampling-based planning in high-dimension…
cs.RO2026
Projection-Retraction MPPI: Exact Constraint-Manifold Control for Manipulators
Seulchan Lee, Leesai Park, Minhyeong Kang +1
Model Predictive Path Integral (MPPI) control is widely used in manipulation for its gradient-free, parallel handling of non-convex costs. Manipulation tasks, however, often impose…