CSymPlan：高自由度机械臂的认证符号规划与控制
Original title: CSymPlan: Certified Symbolic Planning and Control for High-DOF Manipulators
IndustryAI 62
Source: arXiv cs.ROPublish time unverified
arXiv:2608.22983v1 Announce Type: new Abstract: Robot manipulators are commonly engineered around a decoupled motion-generation stack: a planner computes a collision-free path and a lower-level controller tracks the resulting reference. This separation is computationally convenient, but it can produce references that are difficult to execute under actuator limits, tracking error, model mismatch, and small obstacle clearances.