Robots are required to navigate among humans to achieve a variety of service tasks, such as food delivery and autonomous wheelchair navigation. However, this is a challenging task: the robot needs to predict and react to human motions while avoiding collisions and making progress towards its goal. In this project, we aim to develop a variety of control, planning, and prediction methods to tackle safe robotic crowd navigation.

Related Publications

SICNav: safe and interactive crowd navigation using model predictive control and bilevel optimization
S. Samavi, J. R. Han, F. Shkurti, and A. P. Schoellig
IEEE Transactions on Robotics, 2023. Under review.

@ARTICLE{samavi-tro23,
title={{SICNav}: Safe and Interactive Crowd Navigation using Model Predictive Control and Bilevel Optimization},
author={Sepehr Samavi and James R. Han and Florian Shkurti and Angela P. Schoellig},
year={2023},
journal={{IEEE Transactions on Robotics}},
urllink={https://arxiv.org/abs/2310.10982},
note={Under review}
}