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Reactive Exploration of Unknown Environments for Redundant Robots using Virtual Model Control — arXiv:2610.08110

Source: arXiv (en)
Original: https://arxiv.org/abs/2610.08110
License (as archived): CC0-1.0
Archived: 2026-10-07T13:12:15.374Z
SHA-256 of the archived text: da9bc1ce879630c47b4e78764d8240499690da78b73fce98d8b9b5b70e5caa62
Stable URL of this page: https://metraipolis.com/documento/dc_df80d6dece08

How to cite

Reactive Exploration of Unknown Environments for Redundant Robots using Virtual Model Control — arXiv:2610.08110 — arXiv (en), https://arxiv.org/abs/2610.08110 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_df80d6dece08 (Metraipolis archive dc_df80d6dece08, sha256 da9bc1ce879630c47b4e78764d8240499690da78b73fce98d8b9b5b70e5caa62)

BibTeX

@misc{dcdf80d6dece08,
  title = {Reactive Exploration of Unknown Environments for Redundant Robots using Virtual Model Control — arXiv:2610.08110},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2610.08110},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_df80d6dece08; sha256 da9bc1ce879630c47b4e78764d8240499690da78b73fce98d8b9b5b70e5caa62},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2610.08110. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

The exploration of confined, occluded, and partially known spaces poses significant challenges in robotic manipulation. The overall pose of the robotic arm must be carefully controlled to respect tight geometric constraints while avoiding newly discovered obstacles. We address this problem by proposing an active exploration approach for redundant robotic arms with an eye-in-hand camera configuration. Our approach navigates and acquires information in real-time based on a novel scoring method that directly selects a target voxel from the unexplored space using the robot's current state and expected information gain. To move the robot safely toward the target voxel, we utilize Virtual Model Control, which guarantees compliance and enables whole-body reactive obstacle avoidance without the need for path replanning. Simulated and real-robot experiments in both confined and open environments demonstrate the effectiveness of our approach, achieving over $90\%$ mapping coverage across all tested environments in under $120$ seconds without colliding with obstacles.

Tema degli esploratori: statistica e scienza dei dati (elenco arXiv cs.RO, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2610.08110 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-07T12:42:33.598Z dalla pagina https://arxiv.org/list/cs.RO/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).