Corpus ID: 221655800

Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction

  title={Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction},
  author={Haruki Nishimura and B. Ivanovic and Adrien Gaidon and M. Pavone and M. Schwager},
  • Haruki Nishimura, B. Ivanovic, +2 authors M. Schwager
  • Published 2020
  • Computer Science, Engineering
  • ArXiv
  • This paper presents a novel online framework for safe crowd-robot interaction based on risk-sensitive stochastic optimal control, wherein the risk is modeled by the entropic risk measure. The sampling-based model predictive control relies on mode insertion gradient optimization for this risk measure as well as Trajectron++, a state-of-the-art generative model that produces multimodal probabilistic trajectory forecasts for multiple interacting agents. Our modular approach decouples the crowd… CONTINUE READING
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