Proactive Model Predictive Control with Multi-Modal Human Motion Prediction in Cluttered Dynamic Environments
Lukas Heuer,Luigi Palmieri,Andrey Rudenko,Anna Mannucci,Martin Magnusson,Kai O. Arras,Lukas Heuer,Luigi Palmieri,Andrey Rudenko,Anna Mannucci,Martin Magnusson,Kai O. Arras
For robots navigating in dynamic environments, exploiting and understanding uncertain human motion prediction is key to generate efficient, safe and legible actions. The robot may perform poorly and cause hindrances if it does not reason over possible, multi-modal future social interactions. With the goal of enhancing autonomous navigation in cluttered environments, we propose a novel formulation ...
