{"ID":2898832,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2507.02761","arxiv_id":"2507.02761","title":"TopAY: Efficient Trajectory Planning for Differential Drive Mobile Manipulators via Topological Paths Search and Arc Length-Yaw Parameterization","abstract":"Differential drive mobile manipulators combine the mobility of wheeled bases with the manipulation capability of multi-joint arms, enabling versatile applications but posing considerable challenges for trajectory planning due to their high-dimensional state space and nonholonomic constraints. This paper introduces TopAY, an optimization-based planning framework designed for efficient and safe trajectory generation for differential drive mobile manipulators. The framework employs a hierarchical initial value acquisition strategy, including topological paths search for the base and parallel sampling for the manipulator. A polynomial trajectory representation with arc length-yaw parameterization is also proposed to reduce optimization complexity while preserving dynamic feasibility. Extensive simulation and real-world experiments validate that TopAY achieves higher planning efficiency and success rates than state-of-the-art method in dense and complex scenarios. The source code is released at https://github.com/TopAY-Planner/TopAY .","short_abstract":"Differential drive mobile manipulators combine the mobility of wheeled bases with the manipulation capability of multi-joint arms, enabling versatile applications but posing considerable challenges for trajectory planning due to their high-dimensional state space and nonholonomic constraints. This paper introduces TopA...","url_abs":"https://arxiv.org/abs/2507.02761","url_pdf":"https://arxiv.org/pdf/2507.02761v2","authors":"[\"Long Xu\",\"Choilam Wong\",\"Mengke Zhang\",\"Junxiao Lin\",\"Jialiang Hou\",\"Fei Gao\"]","published":"2025-07-03T16:21:43Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false,"code_links":[{"ID":612432,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_id":2898832,"paper_url":"https://arxiv.org/abs/2507.02761","paper_title":"TopAY: Efficient Trajectory Planning for Differential Drive Mobile Manipulators via Topological Paths Search and Arc Length-Yaw Parameterization","repo_url":"https://github.com/TopAY-Planner/TopAY","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0}]}