MPC Navigation and Obstacle Avoidance on Scalability Benchmark Environments 8 obstacles
11Median IterationsPiP-CBF
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| PiP-CBFHardware=Nvidia Jetson Orin AGX, MPC Solver=Fatrop, MPC Horizon (N)=30, MPC Horizon (Ncbf)=20, Barrier Parameter (gamma)=0.2, Global Reference Path=A*2026.06 | 11 | 184 | 1,000 | 10 | 42.9 | 100 | |
| D-CBFHardware=Nvidia Jetson Orin AGX, MPC Solver=Fatrop, MPC Horizon (N)=30, MPC Horizon (Ncbf)=20, Barrier Parameter (gamma)=0.2, Global Reference Path=A*2026.06 | 15 | 1,856 | 2,520 | — | — | 100 |