RoboNav-Arm: Agentic AI-Driven Navigation and Obstacle Avoidance for Robotic Manipulator in Cluttered Environments

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[Submitted on 25 Jun 2026]

Title:RoboNav-Arm: Agentic AI-Driven Navigation and Obstacle Avoidance for Robotic Manipulator in Cluttered Environments

View a PDF of the paper titled RoboNav-Arm: Agentic AI-Driven Navigation and Obstacle Avoidance for Robotic Manipulator in Cluttered Environments, by Aachal Sharma and Narendra Kumar Dhar

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Abstract:Robotic manipulators operating in unstructured environments face significant challenges in safely executing goal-directed tasks due to dynamic and unforeseen obstacles, while traditional methods rely on prior knowledge or fixed perception pipelines, limiting adaptability. We propose a framework for safe task execution with effective obstacle avoidance. The environment module performs real-time obstacle detection, 3D localization, and ground surface geometry estimation. It then generates a structured semantic report that includes obstacle positions, object geometry and shape, and whether obstacles lie inside, outside, or within critical interaction zones. A central coordination module manages the overall system by handling tool invocation (e.g., memory and MoveIt collision scene updates), facilitating communication between modules, and continuously monitoring task progress until completion. Furthermore, a planning module selects an appropriate motion planning algorithm, such as RRTConnect, RRT*, or BiTRRT, based on the current environment configuration and goal requirements. The trajectory generated by the planner is further analyzed and refined to ensure safe and collision-free task execution. The proposed approach is evaluated in Gazebo Classic , demonstrating robustness in dynamic scenarios.

Subjects:

Robotics (cs.RO)

Cite as: arXiv:2607.09716 [cs.RO]

(or arXiv:2607.09716v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2607.09716

arXiv-issued DOI via DataCite (pending registration)

Submission history

From: Aachal Sharma [view email] [v1] Thu, 25 Jun 2026 07:29:11 UTC (8,970 KB)

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