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cs.RO2026
Chance-Constrained MPPI under State and Dynamic Object Prediction Uncertainty and the Evaluation of Collision Risk Calibration
Benjamin Serfling, Konrad Doll, Kati Radkhah-Lens
Chance-constrained Model Predictive Path Integral (MPPI) control is increasingly adopted for navigation in dynamic environments to explicitly bound collision risk. However, these p…
cs.RO2025
LiDAR Based Semantic Perception for Forklifts in Outdoor Environments
Benjamin Serfling, Hannes Reichert, Lorenzo Bayerlein +2
In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach i…