@article{hierarchicaltrajectoryplanningoffloating,
  title = {Hierarchical Trajectory Planning of Floating-Base Multi-Link Robot for Maneuvering in Confined Environments},
  author = {Yicheng Chen and Jinjie Li and Haokun Liu and Zicheng Luo and Kotaro Kaneko and Moju Zhao},
  year = {2026},
  eprint = {2602.22459},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2602.22459},
}