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Benchmarks
Safe Control on Kinova-Gen3 3D Space Multi-Obstacle
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0.0063
Average Computation Time (s)
LTIMPC
-0.03534
0.245662
0.526665
0.807667
Mar 4, 2026
Average Computation Time (s)
Average Distance to Target (m)
Average Maximum phi Over Links
Average Mean phi Over Links
Average Minimum Distance to Obstacle (m)
Cumulative Cost
Updated 1mo ago
Evaluation Results
Method
Method
Links
Average Computation Time (s)
Average Distance to Target (m)
Average Maximum phi Over Links
Average Mean phi Over Links
Average Minimum Distance to Obstacle (m)
Cumulative Cost
LTIMPC
2026.03
0.0063
0.5729
-0.1524
-0.3314
0.3224
307,378,578
LTVMPC
2026.03
0.0063
0.1441
-0.0972
-0.1829
0.2675
93,292
KMPC
2026.03
0.015
0.0719
-0.0383
-0.2149
0.2191
13,154
NMPC
Horizon=10
2026.03
0.053
0.1165
-0.1602
-0.2524
-
81,261
NMPC
Horizon=100
2026.03
1.047
0.0098
-0.1223
-0.2522
-
160
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