Prediction uncertainty-aware Planning
Uncertainty-aware social navigation among 15 pedestrians. Probabilistic neural network predicts the future trajectory of surrounding pedestrians with associated uncertainty which is incorporated as constraints using control Barrier Function (left) and chance-constrained (right) MPC for safe robot navigation.
Uncertainty-aware social navigation among 15 pedestrians. Probabilistic neural network predicts the future trajectory of surrounding pedestrians with associated uncertainty which is incorporated as constraints using control Barrier Function (left) and chance-constrained (right) MPC for safe robot navigation.