Crowd Navigation

Crowd Navigation

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.
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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},
journal={{IEEE Transactions on Robotics}},
note={Under review}

University of Toronto Institute for Aerospace Studies