Dense crowds and a careful ending

Abstract

The continual motion behavior of the robot can be quite useful in dense crowds. For instance, the reactive robot did not display this behavior---when a collision was imminent, it stopped completely. Unfortunately, a completely stopped robot is very hard for a human to understand. Is this robot turned off? Is this robot waiting for me? Meanwhile, the multiple goal interacting Gaussian process robot displayed intentionality. Animators call this behavior "readability'', and it can be employed to create a more human like intelligence N.b.: In the wide upper panel, the position and trajectory marker (red lines and dots) are accurate according to the underlying grid. However, the projection of the video is offset slightly (due to camera curvature) from the tracks. This is an error in presentation; tracking error was almost uniformly within 1 foot of truth.

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