Shao-Xin Sun

Obstacle Modeling and State Estimation for Mobile Robots Toward Real-World Deployment of Non-Reciprocal ORCA

Non-reciprocal ORCA is an efficient velocity-space method for local collision avoidance, but its practical deployment usually assumes that obstacle position, size, velocity, and motion category are already known. In real robotic systems, however, such information is rarely available directly from raw sensor observation...