{"paper":{"title":"Motion Planning for Mobile Manipulators Navigating Doorways via Model Predictive Control","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Christopher Bradley, Donald Ebeigbe, Kasra Sinaei, Kasun Weerakoon, Seyed Abolfazl Fakoorian","submitted_at":"2026-07-31T18:39:29Z","abstract_excerpt":"Navigating doorways is a fundamental capability for mobile manipulators operating in human environments, requiring coordinated motion between the mobile base and manipulator arm. This paper presents a motion planning framework that generates dynamically feasible and collision-free trajectories for autonomously opening and traversing both push and pull doors. The proposed method formulates the robot and door as a coupled dynamical system within a nonlinear Model Predictive Control (MPC) optimization framework. Manipulation feasibility is enforced through a penalty-based constraint, avoiding exp"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.00206","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2608.00206/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}