相关论文: Real-time Model Predictive Control with Zonotope-B…
Human motion is stochastic and ensuring safe robot navigation in a pedestrian-rich environment requires proactive decision-making. Past research relied on incorporating deterministic future states of surrounding pedestrians which can be…
Pedestrian trajectory prediction plays a pivotal role in ensuring the safety and efficiency of various applications, including autonomous vehicles and traffic management systems. This paper proposes a novel method for pedestrian trajectory…
Autonomous driving systems must operate smoothly in human-populated indoor environments, where challenges arise including limited perception and occlusions when relying only on onboard sensors, as well as the need for socially compliant…
Semantic grids can be useful representations of the scene around an autonomous system. By having information about the layout of the space around itself, a robot can leverage this type of representation for crucial tasks such as navigation…
Forecasting the trajectory of pedestrians in shared urban traffic environments is still considered one of the challenging problems facing the development of autonomous vehicles (AVs). In the literature, this problem is often tackled using…
Predicting the future trajectories of pedestrians on the road is an important task for autonomous driving. The pedestrian trajectory prediction is affected by scene paths, pedestrian's intentions and decision-making, which is a multi-modal…
Predicting the future paths of an agent's neighbors accurately and in a timely manner is central to the autonomous applications for collision avoidance. Conventional approaches, e.g., LSTM-based models, take considerable computational costs…
With the increasing availability and affordability of personal robots, they will no longer be confined to large corporate warehouses or factories but will instead be expected to operate in less controlled environments alongside larger…
In the rapidly evolving landscape of autonomous mobile robots, the emphasis on seamless human-robot interactions has shifted towards autonomous decision-making. This paper delves into the intricate challenges associated with robotic…
Seamlessly operating an autonomous vehicle in a crowded pedestrian environment is a very challenging task. This is because human movement and interactions are very hard to predict in such environments. Recent work has demonstrated that…
An extended social force model with a dynamic navigation field is proposed to study bidirectional pedestrian movement. The dynamic navigation field is introduced to describe the desired direction of pedestrian motion resulting from the…
Safe navigation in pedestrian-rich environments remains a key challenge for autonomous robots. This work evaluates the integration of a deep learning-based Social-Implicit (SI) pedestrian trajectory predictor within a Model Predictive…
Mimicking human ability to forecast future positions or interpret complex interactions in urban scenarios, such as streets, shopping malls or squares, is essential to develop socially compliant robots or self-driving cars. Autonomous…
Learning-based methods have shown promising performance for accelerating motion planning, but mostly in the setting of static environments. For the more challenging problem of planning in dynamic environments, such as multi-arm assembly…
Trajectory prediction is critical for applications of planning safe future movements and remains challenging even for the next few seconds in urban mixed traffic. How an agent moves is affected by the various behaviors of its neighboring…
Predicting the future motion of surrounding road users is a crucial and challenging task for autonomous driving (AD) and various advanced driver-assistance systems (ADAS). Planning a safe future trajectory heavily depends on understanding…
This paper proposes a novel online motion planning approach to robot navigation based on nonlinear model predictive control. Common approaches rely on pure Euclidean optimization parameters. In robot navigation, however, state spaces often…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
Modeling the cognitive and experiential factors of human navigation is central to deepening our understanding of human-environment interaction and to enabling safe social navigation and effective assistive wayfinding. Most existing methods…
Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…