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cs.RO2023
Social Robot Navigation through Constrained Optimization: a Comparative Study of Uncertainty-based Objectives and Constraints
Timur Akhtyamov, Aleksandr Kashirin, Aleksey Postnikov +1
This work is dedicated to the study of how uncertainty estimation of the human motion prediction can be embedded into constrained optimization techniques, such as Model Predictive…
cs.RO2023
DDPEN: Trajectory Optimisation With Sub Goal Generation Model
Aleksander Gamayunov, Aleksey Postnikov, Gonzalo Ferrer
Differential dynamic programming (DDP) is a widely used and powerful trajectory optimization technique, however, due to its internal structure, it is not exempt from local minima.…