# Visibility-aware mobile grasping system for dynamic environments

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/vpoa8x9x5phqyytz88jgurgx9
- Original: https://arxiv.org/abs/2605.02487

## Summary

The authors propose a unified system that simultaneously constrains collision risk along the whole-body trajectory and target visibility during grasping in unknown and dynamic environments, comprising three parts: a velocity-aware gaze policy, a hierarchical subgoal policy, and a receding-horizon whole-body planner. In 400 randomized simulation scenarios and real-world trials on a Fetch mobile manipulator, the system achieved success rates of 70.4% in unknown static environments and 57.9% in dynamic environments, 16.3 and 9.3 percentage points higher than decoupled navigation and manipulation policies, respectively, while significantly reducing collisions.