SICNav, a bilevel optimization crowd navigation planner previously validated in simulation and lab, was deployed in real indoor and outdoor pedestrian environments and ran for roughly two hours with acceptable solver speeds.
Relational Graph Learning for Crowd Navigation,
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Deploying SICNav in the Field: Safe and Interactive Crowd Navigation using MPC and Bilevel Optimization
SICNav, a bilevel optimization crowd navigation planner previously validated in simulation and lab, was deployed in real indoor and outdoor pedestrian environments and ran for roughly two hours with acceptable solver speeds.