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cs.RO2024
Dynamic Neural Potential Field: Online Trajectory Optimization in the Presence of Moving Obstacles
Aleksei Staroverov, Muhammad Alhaddad, Aditya Narendra +2
Generalist robot policies must operate safely and reliably in everyday human environments such as homes, offices, and warehouses, where people and objects move unpredictably. We pr…
cs.RO2023
Neural Potential Field for Obstacle-Aware Local Motion Planning
Muhammad Alhaddad, Konstantin Mironov, Aleksey Staroverov +1
Model predictive control (MPC) may provide local motion planning for mobile robotic platforms. The challenging aspect is the analytic representation of collision cost for the case…