arxivcs.RO2026-07-20
Beyond Fixed Goal Delivery: Online POMDP Planning for Target Interception in Crowds
Himanshu Gupta, Kelvin Aladum, Nisar Ahmed, Bradley Hayes, Zachary Sunberg
Target interception in crowded environments requires reaching a moving objective while navigating among multiple uncertain human agents. Since human navigation intent is not directly observable, the robot must reason over multiple possible future interaction outcomes. We formulat…