2025
Zoned Artificial Repulsion: Path Planning Through Local Minima for Multiple-Robot Dexterous Micromanipulation
IROS 2025
We introduce in this paper an original planning algorithm, Zoned Artificial Repulsion (ZAR<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∗</sup>), designed for multiple-robot micromanipulation. The algorithm combines a modified Artificial Potential Fie