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Preprint Aug 2026

Safe and robust tube-based path-following for robot navigation

A new robust navigation framework for path following tasks in robots operating within unknown, cluttered environments that ensures reactive safety through obstacle avoidance and guaranteed convergence to a target path, while simultaneously mitigating the impact of unknown-but-bounded disturbances using a tube-based con...

Arthur H. D. Nunes, V. M. Goncalves, G. Raffo et al. · 1 citation
Preprint Aug 2026

Predictive Relative-Velocity Steering for Safe Robotic Manipulator Teleoperation in Dynamic Environments

This work proposes a lightweight and modular framework for proactive collision avoidance, operating directly at the end-effector velocity-command level, and shows that the proposed method achieves a higher end-effector collision avoidance rate than the baseline methods.

Changhao Hu, Zeyi Liu, Song Hu et al. · 0 citations

Constrained Sampling MPC for Safe Contact-Rich Control: From Exploration to Precision via Hybrid Refinement

Constrained Annealing-based Sampling MPC (CAS-MPC), which integrates inequality constraints via a primal–dual weight reshaping scheme that preserves sample diversity, and a hybrid refinement strategy that switches to Sequential Linear–Quadratic MPC for millimeter-level precision once near the goal is proposed.

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Open access Sep 2026

Formation-Preserving Control for Multi-Robot Systems: Experimental Validation

This paper presents a formation-preserving control strategy that suppresses such unnecessary motion while retaining the standard APF behavior when robots are far from their desired positions and establishes local exponential stability and positive invariance of a neighborhood of the desired configuration.

Wojciech Kowalczyk, Arpit Joon, P. Herman · 0 citations
Open access 2026

Human–Robot Shared Workspace Safety Enhancement Using Predictive Control

Findings indicate that the involved safety measures, the lower probability of a collision, the ease of control of the behavior of a robot, as well as greater functionality in its tasks, are significantly better than those of the traditional reactive control schemes.

Samuel O’ Brell, Kelvin Ling · 0 citations

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