Research paper
Safe-Ballbot · Planning within balance and obstacle constraints
A two-layer controller connects obstacle-avoiding path planning to a ball-balancing robot's tilt and actuation constraints. The reported evaluation uses MuJoCo simulation, including moving obstacles and uncertainty in predicted obstacle motion.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Safe-Ballbot: Tilt-Consistent MPC with Control Barrier Functions for Ballbot Navigation
- Publisher
- arXiv
- Authors
- Vu, Duc Cuong, Nguyen, Tung Lam
- First archive posting
- 2026-11-02
- Source language
- en
- Source country
- US
- Edition
- arXiv:2611.03307v1
- Access
- Open archive metadata and manuscript
- Publication status
- Preprint
Related resources and engineering notes
Source overview
A two-layer controller connects obstacle-avoiding path planning to a ball-balancing robot's tilt and actuation constraints. The reported evaluation uses MuJoCo simulation, including moving obstacles and uncertainty in predicted obstacle motion.
Use and review
Source check covers the archive abstract and metadata. Reported results depend on the stated models and tests; application-specific safety validation remains required. The date is the first archive posting.
Sources & editions
Safe-Ballbot: Tilt-Consistent MPC with Control Barrier Functions for Ballbot Navigation ↗
arXiv · arXiv:2611.03307v1
arXiv abstract, citation metadata and v1 submission history. First archive posting: 2026-11-02.