https://sites.temple.edu/trail/files/2021/11/XieXinDamesIROS2021.pdf
Zhanteng Xie, Pujie Xin, and Philip Dames Abstract—This paper proposes a novel neural network-based control policy to enable a mobile robot to navigate safety through environments filled with both static obstacles, such as tables and chairs, and dense crowds of pedestrians. The network architecture uses early fusion to combine a short history of lidar data with kinematic data about nearby ...