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Oscar de Groot

5 accepted papers

2025

Hey Robot! Personalizing Robot Navigation Through Model Predictive Control with a Large Language Model

Diego Martinez-Baselga, Oscar de Groot, Luzia Knödler, Javier Alonso-Mora, Luis Riazuelo, Luis Montano
ICRA 2025

Robot navigation methods allow mobile robots to operate in applications such as warehouses or hospitals. While the environment in which the robot operates imposes requirements on its navigation behavior, most existing methods do not allow the end-user to configure the robot's behavior and priorities

Cited by 3Source ↗Scholar ↗
2024

Probabilistic Motion Planning and Prediction via Partitioned Scenario Replay

Oscar de Groot, Anish Sridharan, Javier Alonso-Mora, Laura Ferranti
ICRA 2024poster

Autonomous mobile robots require predictions of human motion to plan a safe trajectory that avoids them. Because human motion cannot be predicted exactly, future trajectories are typically inferred from real-world data via learning-based approximations. These approximations provide useful informatio…

Cited by 2Source ↗Scholar ↗
2023

Globally Guided Trajectory Planning in Dynamic Environments

Oscar de Groot, Laura Ferranti, Dariu Gavrila, Javier Alonso–Mora
ICRA 2023poster

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to two distinct passing behaviors per obstacle (passing left or…

Cited by 15Source ↗Scholar ↗
2023

Probabilistic Risk Assessment for Chance-Constrained Collision Avoidance in Uncertain Dynamic Environments

Khaled A. Mustafa, Oscar de Groot, Xinwei Wang, Jens Kober, Javier Alonso-Mora
ICRA 2023poster

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are incorporated into the planning problem to provide probabilisti…

Cited by 11Source ↗Scholar ↗
2021

Scenario-Based Trajectory Optimization in Uncertain Dynamic Environments

Oscar de Groot, Bruno Brito, Laura Ferranti, Dariu Gavrila, Javier Alonso-Mora
RA-L 2021

We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by incorporating chance constraints into the planning problem. This pro

Cited by 35Source ↗Scholar ↗