# Collision-Free Trajectory Planning for a 6-DoF Free-Floating Space Robot via Hierarchical Decoupling Optimization

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 34× · AI/ML

**Wikidata**: [openalex:W4214535149](https://www.wikidata.org/wiki/openalex:W4214535149)  
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