Ya-Jing Shen

Riemannian Optimization-based Whole-body Obstacle Avoidance for Mobile Continuum Robots in Cluttered Environments

Inspired by the coordination of global motion and local shape adaptation in snakes, elephant trunks, and octopus arms, we propose a unified planning and control framework for mobile continuum robots in cluttered and confined environments. Existing approaches often address high-level path planning and local motion contr...