Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction.
arXiv (Cornell University)（2020）
Key words
safe crowd-robot interaction,risk-sensitive stochastic optimal control,entropic risk measure,sampling-based model predictive control,mode insertion gradient optimization,state-of-the-art generative model,multimodal probabilistic trajectory forecasts,multiple interacting agents,learning-based prediction,model-based control,diverse interaction behavior,risk sensitivity parameter,safe navigation,efficient navigation,risk-sensitive sequential action control,multimodal human trajectory forecasting
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