ACLM: ADMM-Based Distributed Model Predictive Control for Collaborative Loco-Manipulation

Description

Collaborative transportation of heavy payloads via loco-manipulation is a challenging yet essential capability for legged robots operating in complex, unstructured environments. Centralized planning methods, e.g., holistic trajectory optimization, capture dynamic coupling among robots and payloads but scale poorly with system size, limiting real-time applicability. In contrast, hierarchical and fully decentralized approaches often neglect force and dynamic interactions, leading to conservative b

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