arxivcs.RO2026-07-16
Learning Agile Navigation in Crowded Environments for Quadruped Robots
Shuyu Wu, Zeyu Liu, Tianbao Zhang, Fanxing Li, Fangyu Sun, Mingkang Xiong, et al.
Navigating dynamic and crowded environments presents significant challenges for quadruped robots due to severe sensor occlusion and unpredictable human motion. Existing approaches face a trade-off: model-based methods, such as Velocity Obstacles (VO), theoretically guarantee safe…