A Task-Space Receding Horizon Controller for Fast Collision Avoidance

arXiv:2607.15733v1 Announce Type: new Abstract: Real-time collision avoidance for robotic manipulators requires fast reactions to unexpected obstacle motion and lookahead to avoid becoming trapped by near-future constraints. Full model predictive control can provide this foresight, but its online cost may grow quickly with horizon length, model fidelity, and the number of active geometric constraints. Conversely, horizon-free reactive methods are computationally efficient but can be short-sighte...