• Corpus ID: 251196568

Winding Through: Crowd Navigation via Topological Invariance

  title={Winding Through: Crowd Navigation via Topological Invariance},
  author={Christoforos Mavrogiannis and Krishnakumar Balasubramanian and Sriyash Poddar and Anush Gandra and Siddhartha S. Srinivasa},
We focus on robot navigation in crowded environments. The challenge of predicting the motion of a crowd around a robot makes it hard to ensure human safety and comfort. Recent approaches often employ end-to-end techniques for robot control or deep architectures for high-fidelity human motion prediction. While these methods achieve important performance benchmarks in simulated domains, dataset limitations and high sample complexity tend to prevent them from transferring to real-world…