ResearchBenchmarksSafe Control on Kinova-Gen3 3D Space Multi-ObstacleSafe Control on Kinova-Gen3 3D Space Multi-ObstacleFollow0.0063Average Computation Time (s)LTIMPC-0.035340.2456620.5266650.807667Mar 4, 2026Evaluation resultsMethodMethodLinksAverage Computation Time (s)Average Distance to Target (m)Average Maximum phi Over LinksAverage Mean phi Over LinksAverage Minimum Distance to Obstacle (m)Cumulative CostLTIMPC2026.030.00630.5729-0.1524-0.33140.3224307,378,578LTVMPC2026.030.00630.1441-0.0972-0.18290.267593,292KMPC2026.030.0150.0719-0.0383-0.21490.219113,154NMPCHorizon=10Horizon=102026.030.0530.1165-0.1602-0.2524—81,261NMPCHorizon=100Horizon=1002026.031.0470.0098-0.1223-0.2522—160