COSMIK-MPPI delivers 100% task success and fixed 22 ms runtime for safe robot-human collision avoidance by terminating constraint-violating trajectories instead of penalizing them.
Integrated control for phri: Collision avoidance, detection, reaction and collaboration,
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COSMIK-MPPI: Scaling Constrained Model Predictive Control to Collision Avoidance in Close-Proximity Dynamic Human Environments
COSMIK-MPPI delivers 100% task success and fixed 22 ms runtime for safe robot-human collision avoidance by terminating constraint-violating trajectories instead of penalizing them.