翻訳待ち：Motion Planning for Mobile Manipulators Navigating Doorways via Model Predictive Control

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。

--> [Submitted on 31 Jul 2026] Title:Motion Planning for Mobile Manipulators Navigating Doorways via Model Predictive Control View a PDF of the paper titled Motion Planning for Mobile Manipulators Navigating Doorways via Model Predictive Control, by Kasra Sinaei and 4 other authors View PDF HTML (experimental) Abstract:Navigating doorways is a fundamental capability for mobile manipulators operating in human environments, requiring coordinated motion between the mobile base and manipulator arm. This paper presents a motion planning framework that generates dynamically feasible and collision-free trajectories for autonomously opening and traversing both push and pull doors. The proposed method formulates the robot and door as a coupled dynamical system within a nonlinear Model Predictive Control (MPC) optimization framework. Manipulation feasibility is enforced through a penalty-based constraint, avoiding explicit arm kinematic modeling in the planner. Simulations and a hardware experiment demonstrate that the approach successfully plans feasible trajectories for door traversal. Subjects: Robotics (cs.RO); Systems and Control (eess.SY) Cite as: arXiv:2608.00206 [cs.RO] (or arXiv:2608.00206v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.00206 arXiv-issued DOI via DataCite (pending registration) Submission history From: Kasra Sinaei [view email] [v1] Fri, 31 Jul 2026 18:39:29 UTC (12,705 KB) Full-text links: Access Paper: View a PDF of the paper titled Motion Planning for Mobile Manipulators Navigating Doorways via Model Predictive Control, by Kasra Sinaei and 4 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs cs.SY eess eess.SY References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)