Uploaded January 2017 | Updated September 2026, 4 hours ago

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In this video, we present different strategies for reactive path planning with our agricultural manipulator CROPS. The robot uses a model predictive algorithm to check for future collisions/joint-limits based on the user input. Here, we present the following reaction strategies, which are performed in real-time:
- NONE (as reference, without any environment feedback)
- STOP (the robot's motion stops as soon as a collision/joint-limit is detected)
- RETARD (the robot's motion slows down progressively when a collision/joint-limit is near)
- NULLSPACE (the robot relaxes task-space constraints to avoid collision/joint-limits while following the user's input as closely as possible)