@ARTICLE{11417380,
  author={Chen, Yicheng and Li, Jinjie and Liu, Haokun and Luo, Zicheng and Kaneko, Kotaro and Zhao, Moju},
  journal={IEEE Transactions on Automation Science and Engineering}, 
  title={Hierarchical Trajectory Planning of Floating-Base Multi-Link Robot for Maneuvering in Confined Environments}, 
  year={2026},
  volume={},
  number={},
  pages={1-1},
  keywords={Robots;Robot kinematics;Planning;Collision avoidance;Trajectory;Trajectory planning;Kinematics;Vectors;Splines (mathematics);Shape;Floating-Base Multi-Link Robot;Motion Planning;Trajectory Optimization},
  doi={10.1109/TASE.2026.3669051}}