Social Robot Navigation Through Constrained Optimization: A Comparative Study of Uncertainty-Based Objectives and Constraints.
Timur AkhtyamovAleksandr KashirinAleksey PostnikovGonzalo FerrerPublished in: ECMR (2023)
Keyphrases
- constrained optimization
- robot navigation
- constrained optimization problems
- autonomous mobile robot
- penalty functions
- penalty function
- lagrange multipliers
- inequality constraints
- unconstrained optimization
- scene understanding
- objective function
- constraint handling
- augmented lagrangian
- landmark recognition
- autonomous robots
- interval analysis
- topological map
- iterative methods
- three dimensional
- multiple objectives
- image sequences