Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2512.09656 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866918242182758400 |
|---|---|
| author | Marticorena, Nicolas Fischer, Tobias Suenderhauf, Niko |
| author_facet | Marticorena, Nicolas Fischer, Tobias Suenderhauf, Niko |
| contents | Reactive control can gracefully coordinate the motion of the base and the arm of a mobile manipulator. However, incorporating an accurate representation of the environment to avoid obstacles without involving costly planning remains a challenge. In this work, we present ReMoSPLAT, a reactive controller based on a quadratic program formulation for mobile manipulation that leverages a Gaussian Splat representation for collision avoidance. By integrating additional constraints and costs into the optimisation formulation, a mobile manipulator platform can reach its intended end effector pose while avoiding obstacles, even in cluttered scenes. We investigate the trade-offs of two methods for efficiently calculating robot-obstacle distances, comparing a purely geometric approach with a rasterisation-based approach. Our experiments in simulation on both synthetic and real-world scans demonstrate the feasibility of our method, showing that the proposed approach achieves performance comparable to controllers that rely on perfect ground-truth information. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_09656 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | ReMoSPLAT: Reactive Mobile Manipulation Control on a Gaussian Splat Marticorena, Nicolas Fischer, Tobias Suenderhauf, Niko Robotics Reactive control can gracefully coordinate the motion of the base and the arm of a mobile manipulator. However, incorporating an accurate representation of the environment to avoid obstacles without involving costly planning remains a challenge. In this work, we present ReMoSPLAT, a reactive controller based on a quadratic program formulation for mobile manipulation that leverages a Gaussian Splat representation for collision avoidance. By integrating additional constraints and costs into the optimisation formulation, a mobile manipulator platform can reach its intended end effector pose while avoiding obstacles, even in cluttered scenes. We investigate the trade-offs of two methods for efficiently calculating robot-obstacle distances, comparing a purely geometric approach with a rasterisation-based approach. Our experiments in simulation on both synthetic and real-world scans demonstrate the feasibility of our method, showing that the proposed approach achieves performance comparable to controllers that rely on perfect ground-truth information. |
| title | ReMoSPLAT: Reactive Mobile Manipulation Control on a Gaussian Splat |
| topic | Robotics |
| url | https://arxiv.org/abs/2512.09656 |