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HiCART-OMP: Human-inspired Collision Aware Trace Following Real Time and Online Motion Planner

2026-08-26

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<title>Abstract</title> <p>Robots operating in human-centered and unstructured environments must adapt their motion online while preserving task-space accuracy, whole-body safety, and real-time performance. However, local reactive planners can suffer from local minima and myopic decisions, whereas longer-horizon planning methods often impose computational costs that limit their responsiveness to changing environm...

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Literature Corpus work: 4db3c5b3-056b-5e75-95f3-69562f1b2f3d
DOI: 10.21203/rs.3.rs-10628037/v1

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