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An Efficient Algorithm for Minimum-Pressure Growth Planning of Vine Robots
Vine robots navigate cluttered environments by extending from their tip. Although their ability to operate in such environments has been extensively demonstrated, little work has addressed growth planning, i.e., finding optimal growth paths. Moreover, existing planners do not account for the growth pressure necessary to follow a given path, which can cause the robot to burst when it is too high. In this paper, we address the problem of finding minimum-pressure paths for vine robots growing around polytopic obstacles. We propose an efficient algorithm that is guaranteed to find globally optimal
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-16T03:15:49.000Z
First collected: 2026-09-20T08:20:57.646Z. This is not the publication date.