A hierarchical planner using a GNN-based local-goal recommender, spatio-temporal search, and MPC achieves high success rates in simulated and real crowd navigation, at the cost of slower navigation.
Ram-nas: Resource- aware multiobjective neural architecture search method for robot vision tasks,
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Hierarchical Learning-Enhanced MPC for Safe Crowd Navigation with Heterogeneous Constraints
A hierarchical planner using a GNN-based local-goal recommender, spatio-temporal search, and MPC achieves high success rates in simulated and real crowd navigation, at the cost of slower navigation.