Object-Reconstruction-Aware Whole-body Control of Mobile Manipulators

arXiv:2509.04094 · cs.RO, math.OC · Submitted 2025-09-04 · Read on arXiv

cs.RO, math.OC

Submitted: 2025-09-04

Updated: 2026-10-06

Comments: 19 pages, 17 figures, 5 tables. Accepted for publication in IEEE Transactions on Robotics (T-RO)

Journal ref: IEEE Transactions on Robotics. 42 (2026) 2912 - 2930

DOI: 10.1109/TRO.2026.3710430

Code: https://github.com/fthdrsn/NBV

Project page: https://octomap.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

AUC — 15× in this paper · explained in 2 episodes
Information Gain — 6× in this paper · explained in 2 episodes
Reinforcement Learning — 5× in this paper · explained in 4 episodes
Ablation — 2× in this paper · explained in 1 episode
Ablation study — 2× in this paper · explained in 1 episode
Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
International Conference on Robotics and Automation — 2× in this paper
Objective Function — 2× in this paper · explained in 2 episodes
Redundancy — 2× in this paper · explained in 2 episodes
Accuracy — 1× in this paper · explained in 1 episode
Action Space — 1× in this paper · explained in 1 episode
Deep Reinforcement Learning (DRL) — 1× in this paper · explained in 2 episodes
NP-Hard Set Covering Problem — 1× in this paper
Pairwise Comparisons — 1× in this paper · explained in 2 episodes
Robustness — 1× in this paper · explained in 5 episodes
Unified Framework — 1× in this paper · explained in 5 episodes
View Planning Problem — 1× in this paper

Sources

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