Social Robot Navigation through Constrained Optimization: a Comparative Study of Uncertainty-based Objectives and Constraints.
Timur AkhtyamovAleksandr KashirinAleksey PostnikovGonzalo FerrerPublished in: CoRR (2023)
Keyphrases
- constrained optimization
- robot navigation
- penalty function
- autonomous robots
- constrained optimization problems
- constraint handling
- inequality constraints
- objective function
- autonomous mobile robot
- unconstrained optimization
- penalty functions
- augmented lagrangian
- scene understanding
- lagrange multipliers
- landmark recognition
- interval analysis
- topological map
- mobile robot
- equality constraints
- stationary points
- multiple objectives
- optimal design
- real time