Warnasooriya Mudiyanselage Shakila Praveen Rathnayake

Hierarchical Supervisory Motion Planning for Frontal Following Mobile Robots Using Guided Model Predictive Path Integral and Dynamic Virtual Rail

Frontal following, in which a mobile robot moves ahead of a walking person while remaining a navigational follower, suffers from trajectory instability when predicted human positions are treated as navigation goals. The resulting path oscillates in straight corridors, and exit selection becomes unstable at junctions. A...