2026
Generating and Optimizing Topologically Distinct Guesses for Mobile Manipulator Path Planning with Path Constraints
ICRA 2026poster
Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot kinematics and constraints. This paper focuses on planning under end effector path constraints and attempts to circumve…