MPCv1 represents the initial project towards the development of the navigation module of an assistive robotic companion under development named Blue. Blue is being designed for performing manipulation tasks such as fetching items, opening doors, handing beverages as well as providing active tele-presence, especially in emergency situations, 24 hours a day. Considering the desired task capability as well as the locomotion design of the robot (four wheel independent steering platform), the project and its follow-ups aim to develop a complete autonomous navigation solution, ranging from low-level control (wheels coordination, wheel-to-ground friction estimation, platform speed and rotation center control) to route planning and autonomous navigation using safe, complex and efficient maneuvers in cluttered environments. On this particular project, emphasis is being put on the development of a Local Path- Planner based on Model Predictive Control (MPC), aiming to achieve 'smart' and complex navigation behaviors at a lower level of the system architecture. The main goals for the developed Path-Planning Module include: constraint satisfaction (kinematic, dynamic, environmental, user-defined), easily interchangeable behaviors (accurate, fast, reduced energetic cost and increased visibility trajectories) as well as safety by design (proved collision-free as well as spatial-envelope-bound trajectories). Such an approach allows a clear modularity in the navigation system, reducing computational and algorithmic load on higher-level modules as well as enabling a high degree of reactivity of the system to unexpected events. The resulting modules allow the further development and integration of such a decentralized Local-Navigation approach towards increasing the flexibility and capabilities of such a mobile platform.