SICNav: Safe and Interactive Crowd Navigation Using Model Predictive Control and Bilevel Optimization

Robots need to predict and react to human motions to navigate through a crowd without collisions. Many existing methods decouple prediction from planning, which does not account for the interaction between robot and human motions and can lead to the robot getting stuck. In this article, we propose s...

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Vydané v:	IEEE transactions on robotics Ročník 41; s. 801 - 818
Hlavní autori:	Samavi, Sepehr, Han, James R., Shkurti, Florian, Schoellig, Angela P.
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	IEEE 2025
Predmet:	Autonomous vehicle navigation Collision avoidance Navigation Optimization optimization and optimal control Pedestrians Planning Robot kinematics Robot motion Safety social navigation Trajectory Vectors
ISSN:	1552-3098, 1941-0468
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