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IROS
2009
IEEE

Planning-based prediction for pedestrians

13 years 10 months ago
Planning-based prediction for pedestrians
— We present a novel approach for determining robot movements that efficiently accomplish the robot’s tasks while not hindering the movements of people within the environment. Our approach models the goal-directed trajectories of pedestrians using maximum entropy inverse optimal control. The advantage of this modeling approach is the generality of its learned cost function to changes in the environment and to entirely different environments. We employ the predictions of this model of pedestrian trajectories in a novel incremental planner and quantitatively show the improvement in hindrancesensitive robot trajectory planning provided by our approach.
Brian Ziebart, Nathan D. Ratliff, Garratt Gallaghe
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Brian Ziebart, Nathan D. Ratliff, Garratt Gallagher, Christoph Mertz, Kevin M. Peterson, James A. Bagnell, Martial Hebert, Anind K. Dey, Siddhartha Srinivasa
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