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This work was supported by Fundamental and Interdisciplinary Disciplines Breakthrough Plan of the Ministry of Education in China JYB2025XDXM206. (e-mail: xiyuan.zhao@seu.edu.cn; lihuijun@seu.edu.cn; a.g.song@seu.edu.cn)The authors are with the State Key Laboratory of Digital Medical Engineering, Jiangsu Key Lab of Robot Sensing and Control, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
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Explicitly modeling robot-obstacle dynamics in motion planning significantly boosts safety and reactivity in dynamic environments, outperforming traditional static perception approaches.
