Becoming a Fruit Ninja: Real-Time Probabilistic Kinodynamic Planning for Manipulator Projectile Interception

arXiv:2609.22608 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Terminology

• Ablation — 6× in this paper · explained in 1 episode
• Alignment — 4× in this paper · explained in 1 episode
• Pruning — 3× in this paper · explained in 4 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Steering — 2× in this paper · explained in 2 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• Think Fast: Real-Time Kinodynamic Belief-Space Planning for Projectile Interception
• pRRTC: GPU-Parallel RRT-Connect for Fast, Consistent, and Low-Cost Motion Planning
• Kino-PAX$^+$: Near-Optimal Massively Parallel Kinodynamic Sampling-based Motion Planner
• Ultrafast Sampling-based Kinodynamic Planning via Differential Flatness
• ${\tt KRAFT}$: Sampling-Based Kinodynamic Replanning and Feedback Control over Approximate, Identified Models of Vehicular Systems

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