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arXiv · 2601.19742

SCOPE: Smooth Convex Optimization for Planned Evolution of Deformable Linear Objects

Ali Jnadi·Hadi Salloum·Yaroslav Kholodov·Alexander Gasnikov·Karam Almaghout
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Abstract

We present SCOPE, a fast and efficient framework for modeling and manipulating deformable linear objects (DLOs). Unlike conventional energy-based approaches, SCOPE leverages convex approximations to significantly reduce computational cost while maintaining smooth and physically plausible deformations. This trade-off between speed and accuracy makes the method particularly suitable for applications requiring real-time or near-real-time response. The effectiveness of the proposed framework is demonstrated through comprehensive simulation experiments, highlighting its ability to generate smooth shape trajectories under geometric and length constraints.

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Ali Jnadi, Hadi Salloum, Yaroslav Kholodov, Alexander Gasnikov, Karam Almaghout. 2026-01-27. SCOPE: Smooth Convex Optimization for Planned Evolution of Deformable Linear Objects. https://arxiv.org/abs/2601.19742

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