DS-MPEPC: Safe and Deadlock-Avoiding Robot Navigation in Cluttered Dynamic Scenes
Senthil Hariharan Arul,Jong Jin Park,Dinesh Manocha,Senthil Hariharan Arul,Jong Jin Park,Dinesh Manocha
We present an algorithm for safe robot navigation in complex dynamic environments using a variant of model predictive equilibrium point control. We use an optimization formulation to navigate robots gracefully in dynamic environments by optimizing over a trajectory cost function at each timestep. We present a novel trajectory cost formulation that significantly reduces conservative and deadlocking...
