2020
DOI: 10.48550/arxiv.2003.05395
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Frozone: Freezing-Free, Pedestrian-Friendly Navigation in Human Crowds

Abstract: We present Frozone, a novel algorithm to deal with the Freezing Robot Problem (FRP) that arises when a robot navigates through dense scenarios and crowds. Our method senses and explicitly predicts the trajectories of pedestrians and constructs a Potential Freezing Zone (PFZ); a spatial zone where the robot could freeze or be obtrusive to humans. Our formulation computes a deviation velocity to avoid the PFZ, which also accounts for social constraints. Furthermore, Frozone is designed for robots equipped with s… Show more

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