Michigan Robotics is proud to highlight that one of its founding members, Prof. Ed Olson, has made the inaugural list of the Google Scholar “Classic Papers That Have Stood The Test of Time.” You can find Ed’s paper listed here, and general background for this list is given here.
If you check out Ed on his website, you’ll find that he is withstanding the test of time rather well himself.
In dynamic environments crowded with people, robot motion planning becomes difficult due to the complex and tightly-coupled interactions between agents. Trajectory planning methods, supported by models of typical human behavior and personal space, often produce reasonable behavior. However, they do not account for the future closed loop interactions of other agents with the trajectory being constructed. As a consequence, the trajectories are unable to anticipate cooperative interactions (such as a human yielding), or adverse interactions (such as the robot blocking the way). We propose a new method – Multi-Policy Decision Making (MPDM) for navigation amongst pedestrians in which the trajectory of the robot is not explicitly planned, but instead, a planning process selects one of a set of closed-loop behaviors whose utility can be predicted through forward simulation.
Here is the MPDM presentation by Dhanvin Mehta, Gonzalo Ferrer and Edwin Olson, U-M, Ann Arbor.