Nasim Fallahiarezoodar

PPO vs. SAC: A Comparative Study for Cooperative Motion Control of Dual-Arm Space Robots

The growing population of orbital debris has intensified interest in active debris removal and on-orbit servicing, for which dual-arm space manipulators offer improved grasping stability and load distribution relative to single-arm systems. However, coordinating two manipulators under inter-arm collision avoidance, ori...