Mixed Strategy Nash Equilibrium for Crowd Navigation

no code implementations • 3 Mar 2024 • Max Muchen Sun, Francesca Baldini, Katie Hughes, Peter Trautman, Todd Murphey

We prove that the proposed algorithm is equivalent to solving a mixed strategy game for crowd navigation, and the algorithm guarantees the recovery of the global Nash equilibrium of the game.

Collision Avoidance Decision Making +2

Fast Ergodic Search with Kernel Functions

no code implementations • 3 Mar 2024 • Max Muchen Sun, Ayush Gaggar, Peter Trautman, Todd Murphey

However, current methods typically have exponential computation complexity in the search space dimension and are restricted to Euclidean space.

Principles and Guidelines for Evaluating Social Robot Navigation Algorithms

no code implementations • 29 Jun 2023 • Anthony Francis, Claudia Pérez-D'Arpino, Chengshu Li, Fei Xia, Alexandre Alahi, Rachid Alami, Aniket Bera, Abhijat Biswas, Joydeep Biswas, Rohan Chandra, Hao-Tien Lewis Chiang, Michael Everett, Sehoon Ha, Justin Hart, Jonathan P. How, Haresh Karnan, Tsang-Wei Edward Lee, Luis J. Manso, Reuth Mirksy, Sören Pirk, Phani Teja Singamaneni, Peter Stone, Ada V. Taylor, Peter Trautman, Nathan Tsoi, Marynel Vázquez, Xuesu Xiao, Peng Xu, Naoki Yokoyama, Alexander Toshev, Roberto Martín-Martín

A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation.

Benchmarking Social Navigation