Author

Bernhard Wullt

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Preprint Oct 2026

Funnel planning and control for manipulators using neural Signed Configuration Distance Functions

This work proposes a novel funnel planning and control solution that uses a neural Signed Configuration Distance Function (nSCDF) to estimate collision-free balls and gradients in a computationally efficient way and observes improved motion performance and robustness properties when using the nSCDF for funnel control.

Bernhard Wullt, Christos K. Verginis, Per Mattsson et al. · 0 citations