3 papers
cs.RO2024
A Joint Prediction Method of Multi-Agent to Reduce Collision Rate
Mingyi Wang, Hongqun Zou, Yifan Liu +2
Predicting future motions of road participants is an important task for driving autonomously. Most existing models excel at predicting the marginal trajectory of a single agent, bu…
cs.RO2024
SOMTP: Self-Supervised Learning-Based Optimizer for MPC-Based Safe Trajectory Planning Problems in Robotics
Yifan Liu, You Wang, Guang Li
Model Predictive Control (MPC)-based trajectory planning has been widely used in robotics, and incorporating Control Barrier Function (CBF) constraints into MPC can greatly improve…
cs.RO2023
The Effects of Robot Motion on Comfort Dynamics of Novice Users in Close-Proximity Human-Robot Interaction
Pierce Howell, Jack Kolb, Yifan Liu +1
Effective and fluent close-proximity human-robot interaction requires understanding how humans get habituated to robots and how robot motion affects human comfort. While prior work…