An energy-based one-shot multimodal motion predictor, integrated into MPC through soft constraints and proximity grouping, achieves higher simulated success rates than several baselines.
Prescient collision- free navigation of mobile robots with iterative multimodal motion prediction of dynamic obstacles,
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Future-Oriented Navigation: Dynamic Obstacle Avoidance with One-Shot Energy-Based Multimodal Motion Prediction
An energy-based one-shot multimodal motion predictor, integrated into MPC through soft constraints and proximity grouping, achieves higher simulated success rates than several baselines.