Towards Autonomous Robot Navigation in Human Populated Environments Using an Universal SFM and Parametrized MPC
Enrico Fiasché,Philippe Martinet,Ezio Malis,Enrico Fiasché,Philippe Martinet,Ezio Malis
Autonomous mobile robot navigation in a human populated and encumbered environment is recognized as a hard problem to be solved in real-time. Most of the time, robots face the so-called ‘Freezing Robot Problem’, that occurs when the robot stops because no feasible and safe motion can be found. In order to provide to the robot the capability of proactive navigation, in this work we generalize the c...
