2026
A Collision-Free Sway Damping Model Predictive Controller for Safe and Reactive Forestry Crane Navigation
Marc-Philip Ecker, Christoph Froehlich, Johannes Huemer, David Gruber, Bernhard Bischof, Tobias Glück +1
ICRA 2026poster
Forestry cranes operate in dynamic, unstructured outdoor environments where simultaneous collision avoidance and payload sway control are critical for safe navigation. Existing approaches address these challenges separately, either focusing on sway damping with predefined collision-free paths or per…