SCOPE: Smooth Convex Optimization for Planned Evolution of Deformable Linear Objects
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arXiv
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| Auteurs principaux: | , , , , |
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866908792129585152 |
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| author | Jnadi, Ali Salloum, Hadi Kholodov, Yaroslav Gasnikov, Alexander Almaghout, Karam |
| author_facet | Jnadi, Ali Salloum, Hadi Kholodov, Yaroslav Gasnikov, Alexander Almaghout, Karam |
| contents | We present SCOPE, a fast and efficient framework for modeling and manipulating deformable linear objects (DLOs). Unlike conventional energy-based approaches, SCOPE leverages convex approximations to significantly reduce computational cost while maintaining smooth and physically plausible deformations. This trade-off between speed and accuracy makes the method particularly suitable for applications requiring real-time or near-real-time response. The effectiveness of the proposed framework is demonstrated through comprehensive simulation experiments, highlighting its ability to generate smooth shape trajectories under geometric and length constraints. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_19742 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | SCOPE: Smooth Convex Optimization for Planned Evolution of Deformable Linear Objects Jnadi, Ali Salloum, Hadi Kholodov, Yaroslav Gasnikov, Alexander Almaghout, Karam Robotics Systems and Control We present SCOPE, a fast and efficient framework for modeling and manipulating deformable linear objects (DLOs). Unlike conventional energy-based approaches, SCOPE leverages convex approximations to significantly reduce computational cost while maintaining smooth and physically plausible deformations. This trade-off between speed and accuracy makes the method particularly suitable for applications requiring real-time or near-real-time response. The effectiveness of the proposed framework is demonstrated through comprehensive simulation experiments, highlighting its ability to generate smooth shape trajectories under geometric and length constraints. |
| title | SCOPE: Smooth Convex Optimization for Planned Evolution of Deformable Linear Objects |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2601.19742 |