Dynamic Risk Density for Autonomous Navigation in Cluttered Environments without Object Detection

Dynamic Risk Density for Autonomous Navigation in Cluttered Environments without Object Detection

In this paper, we examine the problem of navigating cluttered environments without explicit object detection and tracking. We introduce the dynamic risk density to map the congestion density and spatial flow of the environment to a cost function for the agent to determine risk when navigating that e...

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Bibliographic Details
Main Authors: Pierson, Alyssa (Author), Vasile, Cristian-Ioan (Author), Gandhi, Anshula (Author), Schwarting, Wilko (Author), Karaman, Sertac (Author), Rus, Daniela L. (Author)
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Laboratory for Information and Decision Systems (Contributor)
Format: Article
Language:English
Published: IEEE, 2020-05-01T13:21:01Z.
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