arxivcs.ROcs.HC2026-07-11
Navigating the Crowd: Non-linear MPC with Social Forces Dynamics for Human-Aware Robot Navigation
Stefano Trepella, Andrea Ostuni, Mauro Martini, Pablo Pueyo, Noé Pérez-Higueras, Marcello Chiaberge, et al.
Safe and socially compliant navigation remains a fundamental challenge for autonomous robots operating in human-populated environments. Beyond collision avoidance, robots must anticipate human motion and respect personal space to ensure human comfort. Model Predictive Control (MP…