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PIVO: Probabilistic Inverse Velocity Obstacle for Navigation under Uncertainty
2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2019In this paper, we present an algorithmic framework which computes the collision-free velocities for the robot in a human shared dynamic and uncertain environment. We extend the concept of Inverse Velocity Obstacle (IVO) to a probabilistic variant to handle the state estimation and motion uncertainties that arise due to the other participants of the ...
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