arxivcs.RO2026-07-20
Task-Space Constrained Stochastic Trajectory Optimization for Time-Optimal Forestry Crane Motion Planning
Marc-Philip Ecker, Christoph Fröhlich, Bernhard Bischof, Wolfgang Kemmetmüller, Tobias Glück
Efficient, collision-free, and time-optimal motion planning is a fundamental requirement for autonomous forestry cranes operating under hydraulic pump-flow constraints. The Via-Point-based Stochastic Trajectory Optimization (VP-STO) algorithm has demonstrated near-time-optimal hy…