Integrated Planning and Control on Gazebo Static scenario (test)
0.8698Min Obstacle Clearance (m)NMPC+CBF Penalty
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| NMPC+CBF Penalty2026.05 | 0.8698 | — | |
| NMPC+CBF Constraint2026.05 | 0.8548 | 31.45 | |
| NMPC2026.05 | 0.7271 | — |
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