2026
Wrench-Feasible Whole-Body Planning Via Time-Layered DAG Optimization for Omnidirectional Aerial Manipulation
ICRA 2026poster
Omnidirectional aerial manipulators (OAMs) must coordinate a floating base and onboard arm to track end-effector trajectories under coupled geometric and dynamic constraints. In cluttered long-horizon tasks, collision-free motions may still be dynamically inadmissible and dense time layered planning…