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Keep It Upright: Model Predictive Control for Nonprehensile Object Transportation With Obstacle Avoidance on a Mobile Manipulator

Adam Heins, Angela P. Schoellig. Keep It Upright: Model Predictive Control for Nonprehensile Object Transportation With Obstacle Avoidance on a Mobile Manipulator. IEEE Robotics and Automation Letters, 8(12):7986-7993, December 2023. [doi]

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