We present FAVOR (Free-floating Arm Velocity Optimization with Recursive Sensitivities), a planner for collision-free reaching, tracking, and prescribed-time pre-grasp interception on an unactuated spacecraft. It optimizes Bezier joint-velocity curves with linear velocity, acceleration, and continuity constraints. Deci...
Duo Zhang, Zhi-Zhuo Zhang, Xiao-Li Bai et al.· 0 citations
Human demonstrations contain rich manipulation knowledge, but it remains unclear what information can be transferred effectively to robot control. Existing affordance representations are typically formulated as 2D masks, 3D regions, contact points, or actionability scores, and therefore primarily identify where interac...
We present the dynamic rotation-stacked visibility graph (dRVG), an online motion planner that guides polygonal robots to specified goals in initially unknown, static environ- ments. It merges local roadmaps from successive observations to plan collision-free translations and rotations without a uniform position grid....
Duo Zhang, He-Chen Zhang, Jun-Shan Huang et al.· 0 citations
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