Ze Wang

Distributed Safety-Aware Motion Planning for Dual-Arm Systems via Gaussian Belief Propagation With Application to Catenary Dropper Assembly

With the increasing deployment of dual-arm robots in compact and shared workspaces, generating safety-aware and efficient motion plans for such high-degree-of-freedom (DoF) collaborative systems remains a challenge. Centralized planners suffer from severe computational bottlenecks, while existing distributed optimizati...