MPC Navigation and Obstacle Avoidance on Scalability Benchmark Environments 9 obstacles
9Median 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 | 9 | 184 | 848 | 8 | 75.39 | 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 | 16 | 2,065 | 2,805 | — | — | 100 |