Density Planner: Minimizing Collision Risk in Motion Planning with Dynamic Obstacles using Density-based Reachability
Laura Lützow,Yue Meng,Andres Chavez Armijos,Chuchu Fan,Laura Lützow,Yue Meng,Andres Chavez Armijos,Chuchu Fan
Uncertainty is prevalent in robotics. Due to measurement noise and complex dynamics, we cannot estimate the exact system and environment state. Since conservative motion planners are not guaranteed to find a safe control strategy in a crowded, uncertain environment, we propose a density-based method. Our approach uses a neural network and the Liouville equation to learn the density evolution for a...
