Efficient Bezier Velocity Optimization for Free-Floating Space Manipulators

arXiv:2609.31880 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-10-03

Code: https://github.com/x-bai-research-group/spacemanipulator-inspection-benchmarks

Terminology

• Ablation — 7× in this paper · explained in 1 episode
• Benchmark — 5× in this paper · explained in 2 episodes
• Free-floating Arm Velocity Optimization with Recursive Sensitivities — 2× in this paper
• Steering — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Imaging Infrared Radiometer — 1× in this paper
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Star Tracker Assembly — 1× in this paper

Sources

• More than a Manipulator: Planning Propellant-Free Attitude Maneuvers for Free-Floating Spacecraft
• Transformer-Based Warm-Starting for Feasible and Optimal Terminal Approach to Tumbling Objects with Space Manipulators
• Foam: A Tool for Spherical Approximation of Robot Geometry
• Semidefinite Relaxations for Collision-Free Motion Planning

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