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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Xiao-Li Bai

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Preprint Sep 2026

Efficient Bezier Velocity Optimization for Free-Floating Space Manipulators

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

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