CSymPlan：高自由度机械臂的认证符号规划与控制
原标题：CSymPlan: Certified Symbolic Planning and Control for High-DOF Manipulators
产业动态AI 62
来源：arXiv cs.RO发布时间待核实
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.