Real-Time Motion Planning for Mobile Manipulation with VAMP and QuIK
Interdisciplinary Project (IDP) — Anil Zeybek (2026)
Student: Anil Zeybek
Type: Interdisciplinary Project (IDP) — Final Report
Submitted: September 15, 2026
Supervision / examining team: Panagiotis Petropoulakis, André Borrmann
This project integrates VAMP (Vector-Accelerated Motion Planning) and QuIK (Quick Inverse Kinematics) into a ROS 2 / MoveIt 2 mobile-manipulation framework for a Clearpath Husky A200 equipped with a UFactory xArm6.
The work focuses on high-performance planning, SIMD-accelerated collision checking, inverse kinematics, and real-time sensor-driven collision avoidance using Collision-Affording Point Trees, with validation in Gazebo and on the physical robot platform.