Hierarchical Trajectory Planning of Floating-Base Multi-Link Robot for Maneuvering in Confined EnvironmentsYicheng Chen, Jinjie Li, Haokun Liu, Zicheng Luo, Kotaro Kaneko, Moju Zhao2月 27, 2026 International, JournalPDF 引用 動画 DOI WebsiteAerial Robots Motion and Path Planning Hierarchical Framework Trajectory Optimization Parallelization