Cover Image

Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Mangan, Aedan, Long, Kehan, Lee, Ki Myung Brian, Potdar, Miheer, Atanasov, Nikolay, Morimoto, Tania K.
Format:	Preprint
Published:	2026
Subjects:	Robotics Systems and Control Optimization and Control
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments
by: Long, Kehan, et al.
Published: (2023)

Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments
by: Long, Kehan, et al.
Published: (2024)

Certifying Stability of Reinforcement Learning Policies using Generalized Lyapunov Functions
by: Long, Kehan, et al.
Published: (2025)

Distributionally Robust Policy and Lyapunov-Certificate Learning
by: Long, Kehan, et al.
Published: (2024)

Distributionally Robust Lyapunov Function Search Under Uncertainty
by: Long, Kehan, et al.
Published: (2022)

Neural Configuration-Space Barriers for Manipulation Planning and Control
by: Long, Kehan, et al.
Published: (2025)

Neural Configuration Distance Function for Continuum Robot Control
by: Long, Kehan, et al.
Published: (2024)

Feasibility Analysis and Regularity Characterization of Distributionally Robust Safe Stabilizing Controllers
by: Mestres, Pol, et al.
Published: (2023)

Stabilization of Nonlinear Systems through Control Barrier Functions
by: Mestres, Pol, et al.
Published: (2024)

EAST: Environment Aware Safe Tracking using Planning and Control Co-Design
by: Li, Zhichao, et al.
Published: (2023)

TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers
by: Alavilli, Anoushka, et al.
Published: (2023)

Constrained Variational Inference via Safe Particle Flow
by: Yi, Yinzhuang, et al.
Published: (2025)

Global Contact-Rich Planning with Sparsity-Rich Semidefinite Relaxations
by: Kang, Shucheng, et al.
Published: (2025)

On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Planning
by: Li, Yulin, et al.
Published: (2025)

Compatibility of Multiple Control Barrier Functions for Constrained Nonlinear Systems
by: Cohen, Max H., et al.
Published: (2025)

Nonlinear Robust Optimization for Planning and Control
by: Abdul, Arshiya Taj, et al.
Published: (2025)

Integrated Exploration-Aware UAV Route Optimization and Path Planning
by: Choi, Jimin, et al.
Published: (2026)

BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field
by: Parwana, Hardik, et al.
Published: (2025)

Chance-Constrained Control for Safe Spacecraft Autonomy: Convex Programming Approach
by: Oguri, Kenshiro
Published: (2024)

An Efficient Numerical Function Optimization Framework for Constrained Nonlinear Robotic Problems
by: Sovukluk, Sait, et al.
Published: (2025)

Tire Wear Aware Trajectory Tracking Control for Multi-axle Swerve-drive Autonomous Mobile Robots
by: Hu, Tianxin, et al.
Published: (2025)

Lightweight Tracking Control for Computationally Constrained Aerial Systems with the Newton-Raphson Method
by: Morales-Cuadrado, Evanns, et al.
Published: (2025)

Continuous-Time Line-of-Sight Constrained Trajectory Planning for 6-Degree of Freedom Systems
by: Hayner, Christopher R., et al.
Published: (2024)

Quasi-Static Continuum Model of Octopus-Like Soft Robot Arm Under Water Actuated by Twisted and Coiled Artificial Muscles (TCAMs)
by: Golestaneh, Amirreza Fahim, et al.
Published: (2024)

Safe and Efficient Robot Action Planning in the Presence of Unconcerned Humans
by: Amiri, Mohsen, et al.
Published: (2025)

Enhanced Trust Region Sequential Convex Optimization for Multi-Drone Thermal Screening Trajectory Planning in Urban Environments
by: Chen, Kaiyuan, et al.
Published: (2025)

Fast Near Time-Optimal Motion Planning for Holonomic Vehicles in Structured Environments
by: Callens, Louis, et al.
Published: (2026)

RCM-Constrained Manipulator Trajectory Tracking Using Differential Kinematics Control
by: Rayyan, Omar, et al.
Published: (2024)

Optimize the parameters of the PID Controller using Genetic Algorithm for Robot Manipulators
by: Son, Vu Ngoc, et al.
Published: (2025)

Free-Gate: Planning, Control And Policy Composition via Free Energy Gating
by: Rossi, Francesca, et al.
Published: (2024)

Safe and Dynamically-Feasible Motion Planning using Control Lyapunov and Barrier Functions
by: Mestres, Pol, et al.
Published: (2024)

Dynamics-aware Diffusion Models for Planning and Control
by: Gadginmath, Darshan, et al.
Published: (2025)

On Kinodynamic Global Planning in a Simplicial Complex Environment: A Mixed Integer Approach
by: Jerome, Otobong, et al.
Published: (2025)

Element-based Formation Control: a Unified Perspective from Continuum Mechanics
by: Cao, Kun, et al.
Published: (2026)

Competition-Aware Decision-Making Approach for Mobile Robots in Racing Scenarios
by: Ji, Kyoungtae, et al.
Published: (2024)

TinySDP: Real Time Semidefinite Optimization for Certifiable and Agile Edge Robotics
by: Mahajan, Ishaan, et al.
Published: (2026)

Collaborative-Online-Learning-Enabled Distributionally Robust Motion Control for Multi-Robot Systems
by: Ning, Chao, et al.
Published: (2025)

CrowdSurfer: Sampling Optimization Augmented with Vector-Quantized Variational AutoEncoder for Dense Crowd Navigation
by: Kumar, Naman, et al.
Published: (2024)

Safety-Critical Planning and Control for Dynamic Obstacle Avoidance Using Control Barrier Functions
by: Liu, Shuo, et al.
Published: (2024)

Jointly Assigning Processes to Machines and Generating Plans for Autonomous Mobile Robots in a Smart Factory
by: Leet, Christopher, et al.
Published: (2025)