2 papers
cs.RO2024
Centralized vs. Decoupled Dual-Arm Planning Taking into Account Path Quality
Jonas Wittmann, Franziska Ochsenfarth, Valentin Sonneville +1
The aim of coordinated planning is to avoid robot-to-robot collisions in a multi-robot system, and there are two standard solution approaches: centralized planning and decoupled pl…
cs.RO2023
Energy-Aware Hierarchical Control of Joint Velocities
Jonas Wittmann, Daniel Hornung, Korbinian Griesbauer +1
Nowadays, robots are applied in dynamic environments. For a robust operation, the motion planning module must consider other tasks besides reaching a specified pose: (self) collisi…