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...

Ausführliche Beschreibung

Bibliographische Detailangaben

Veröffentlicht in:	IEEE transactions on robotics Jg. 41; S. 801 - 818
Hauptverfasser:	Samavi, Sepehr, Han, James R., Shkurti, Florian, Schoellig, Angela P.
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	IEEE 2025
Schlagworte:	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
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!