{"paper":{"title":"Navigating the Crowd: Non-linear MPC with Social Forces Dynamics for Human-Aware Robot Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.HC"],"primary_cat":"cs.RO","authors_text":"Andrea Ostuni, Fernando Caballero, Luis Merino, Marcello Chiaberge, Mauro Martini, No\\'e P\\'erez-Higueras, Pablo Pueyo, Stefano Trepella","submitted_at":"2026-07-11T15:57:33Z","abstract_excerpt":"Safe and socially compliant navigation remains a fundamental challenge for autonomous robots operating in human-populated environments. Beyond collision avoidance, robots must anticipate human motion and respect personal space to ensure human comfort. Model Predictive Control (MPC) offers a robust alternative to classical and data-driven methods, although its effectiveness strongly depends on accurate human motion prediction and efficient computation. This paper introduces SFM-NMPC, a Social Force Model-based Non-linear Model Predictive Control framework that embeds human motion prediction dir"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.10374","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.10374/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}