A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning
Somil Bansal,Andrea Bajcsy,Ellis Ratner,Anca D. Dragan,Claire J. Tomlin,Somil Bansal,Andrea Bajcsy,Ellis Ratner,Anca D. Dragan,Claire J. Tomlin
Real-world autonomous systems often employ probabilistic predictive models of human behavior during planning to reason about their future motion. Since accurately modeling human behavior a priori is challenging, such models are often parameterized, enabling the robot to adapt predictions based on observations by maintaining a distribution over the model parameters. Although this enables data and p...
