AAAI 2026technical0 citations
SICNav: Safe and Interactive Crowd Navigation Using Model Predictive Control and Bilevel Optimization (Abstract Reprint)
Sepehr Samavi, James R. Han, Florian Shkurti, Angela P. Schoellig
Abstract
Robots need to predict and react to human motions to navigate through a crowd without collisions. Many existing methods decouple prediction from planning, which does not account for the interaction between robot and human motions and can lead to the robot getting stuck. We propose SICNav, a Model Predictive Control (MPC) method that jointly solves for robot motion and predicted crowd motion in closed-loop. We model each human in the crowd to be following an Optimal Reciprocal Collision Avoidance (ORCA) scheme and embed that model as a constraint in the robot
BibTeX
@inproceedings{aaai2026_sicnavsafeandint,
title = {SICNav: Safe and Interactive Crowd Navigation Using Model Predictive Control and Bilevel Optimization (Abstract Reprint)},
author = {Sepehr Samavi and James R. Han and Florian Shkurti and Angela P. Schoellig},
booktitle = {AAAI 2026},
year = {2026}
}