Preprint
Aug 2026
Real-time Whole-Body Motion Planning for Mobile Manipulators Carrying Arbitrarily Shaped Payloads via Kinematically-Coupled SVSDF
Mobile manipulators are increasingly tasked with transporting large, non-convex payloads through cluttered environments, yet existing planners either oversimplify the payload geometry or fail to handle the kinematic coupling between manipulator links, leading to lost feasible space or stalled optimization. This letter...
Yisheng Li, Long-Ji Yin, Ting Zhang et al.
· 0 citations