実行器を考慮した候補選択：実現可能性証明による手法

原文アブストラクト

Modular robotic systems often separate motion planning from a downstream executor that enforces state-dependent hard constraints. A candidate that is geometrically valid may therefore be incompatible with the executor's available command set. We present a certificate-based candidate-selection framework that constructs a command witness from the executor hard set at predicted rollout states and verifies it against the original constraints, without changing candidate generation, ranking, or the executor. Across 5,085 geometry-valid numerical evaluations on two robot models, 795 admitted no executor-feasible command. The certificate is sufficient but conservative: none of the 795 was certified, while 7.09\% of reference-feasible cases remained uncertified. In controlled FR3 and fixed-base RB-Y1 simulations, certificate admission frequently changed candidate selection, and a post-hoc exact linear-programming (LP) admission baseline revealed platform-dependent conservatism. Relative to geometry-based selection, certificate admission was associated with lower planner-command coverage and higher nominal tracking error, without a consistent advantage in reached-state interaction reserve. A planner-generated MoveIt/OMPL study further evaluates the same admission rule on externally generated candidate pools.