Reactive 3D Motion Planning for a Franka Arm via Star-World Workspace Reshaping

arXiv:2607.25138v1 Announce Type: new Abstract: Safety inflation can cause nearby obstacles to overlap, violating the disjoint-obstacle assumptions used by many modulation-based reactive planners. We investigate Star-World workspace reshaping for three-dimensional reactive control of a Franka Emika Panda manipulator. At each update, intersecting inflated obstacles are clustered and replaced by star-shaped proxies before a dynamical-system-based end-effector controller is evaluated. A null-space ...