2 papers
cs.RO2026
Towards Kinematic Actionable Infeasibility Detection in Motion Planning
Aayush Rath, Lakshya Jindal, Antony Thomas
Motion planning in robotics requires not only computing collision-free paths but also certifying infeasibility when no such path exists. Complete methods are limited to low-dimensi…
cs.RO2026
Complete Motion Planning using Workspace-Fibered Decomposition for nR-Planar Manipulator
Aayush Rath, Antony Thomas
We propose a workspace-fibered decomposition framework for motion planning in nR planar redundant manipulators operating in cluttered environments. Rather than planning directly in…