Safe and Efficient Motion Planning in Robotic Manipulation through Formal Methods
Manipulating rigid body objects in crowded environments poses significant challenges due to the need for rapid, real-time planning and the assurance of safe operational paths. The challenges come from varying shapes of the manipulated objects and high-dimensional nature of manipulators. This th...
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Massachusetts Institute of Technology
2024
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| Online Access: | https://hdl.handle.net/1721.1/155366 |