# Safe Control on Kinova-Gen3 3D Space Multi-Obstacle

Source: [Safe Control on Kinova-Gen3 3D Space Multi-Obstacle](<https://www.sota2.com/research/sota/safe-control-on-kinova-gen3-3d-space-multi-obstacle>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-05T07:57:38.366Z

Evaluation of Safe Control performance on the Kinova Gen3 robot arm navigating a 3D space with multiple obstacles, focusing on control time, proximity to obstacles, and cumulative cost.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Safe Control |
| Dataset (including any stated split) | Kinova-Gen3 3D Space Multi-Obstacle |
| Metric | Average Computation Time (s) |
| Unit | TIME |
| Direction | Lower is better |
| Results loaded | 5 of 5 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Average Computation Time (s)](<https://www.sota2.com/research/sota/safe-control-on-kinova-gen3-3d-space-multi-obstacle.md?metric=Average%20Computation%20Time%20(s)>): Lower is better; unit: TIME.

- [Average Distance to Target (m)](<https://www.sota2.com/research/sota/safe-control-on-kinova-gen3-3d-space-multi-obstacle.md?metric=Average%20Distance%20to%20Target%20(m)>): Lower is better; unit: SCALAR.

- [Average Maximum phi Over Links](<https://www.sota2.com/research/sota/safe-control-on-kinova-gen3-3d-space-multi-obstacle.md?metric=Average%20Maximum%20phi%20Over%20Links>): Lower is better; unit: SCALAR.

- [Average Mean phi Over Links](<https://www.sota2.com/research/sota/safe-control-on-kinova-gen3-3d-space-multi-obstacle.md?metric=Average%20Mean%20phi%20Over%20Links>): Lower is better; unit: SCALAR.

- [Average Minimum Distance to Obstacle (m)](<https://www.sota2.com/research/sota/safe-control-on-kinova-gen3-3d-space-multi-obstacle.md?metric=Average%20Minimum%20Distance%20to%20Obstacle%20(m)>): Higher is better; unit: SCALAR.

- [Cumulative Cost](<https://www.sota2.com/research/sota/safe-control-on-kinova-gen3-3d-space-multi-obstacle.md?metric=Cumulative%20Cost>): Lower is better; unit: SCALAR.

## Recorded results

| Method | Average Computation Time (s) | Result date | Report paper |
| --- | --- | --- | --- |
| LTIMPC | 0.00629 | Not recorded | 69a90df22d603e6de3e40745 |
| LTVMPC | 0.00629 | Not recorded | 69a90df22d603e6de3e40745 |
| KMPC | 0.01496 | Not recorded | 69a90df22d603e6de3e40745 |
| NMPC | 0.05299 | Not recorded | 69a90df22d603e6de3e40745 |
| NMPC | 1.04704 | Not recorded | 69a90df22d603e6de3e40745 |

### LTIMPC

Average Computation Time (s): 0.00629. Result ID: 69a936fd6dbb7075b9526667.

[Reporting paper](<https://www.sota2.com/research/paper/69a90df22d603e6de3e40745.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### LTVMPC

Average Computation Time (s): 0.00629. Result ID: 69a936fd6dbb7075b9526668.

[Reporting paper](<https://www.sota2.com/research/paper/69a90df22d603e6de3e40745.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### KMPC

Average Computation Time (s): 0.01496. Result ID: 69a936fd6dbb7075b9526666.

[Reporting paper](<https://www.sota2.com/research/paper/69a90df22d603e6de3e40745.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69a90df22d603e6de3e40745.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### NMPC

Average Computation Time (s): 0.05299. Result ID: 69a936fd6dbb7075b9526669.

[Reporting paper](<https://www.sota2.com/research/paper/69a90df22d603e6de3e40745.md>)

Recorded evaluation configuration: {"Horizon":"10"}. This record does not assert independent reproduction.

### NMPC

Average Computation Time (s): 1.04704. Result ID: 69a936fd6dbb7075b952666a.

[Reporting paper](<https://www.sota2.com/research/paper/69a90df22d603e6de3e40745.md>)

Recorded evaluation configuration: {"Horizon":"100"}. This record does not assert independent reproduction.

Page 1 of 1. This is an index page, not the full collection.