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DistNav crowd navigation toolbox

Project description


This repository contains related code for the RSS 2021 paper "Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation" by Muchen Sun, Francesca Baldini, Pete Trautman and Todd Murphey.


We provide a Jupyter notebook tutorials for our algorithm. You can find them under the "notebooks" directory.

  • Tutorial 1: distribution space coupling in one-dimensional space: In the first tutorial, we will build from scratch on a one-dimensional two-agents toy example to show how DistNav optimization works. We will show both the analytical solution with numerical integration and approximated solution with sampling and Monte-Carlo integration, and how they can match with each other. You can find a copy of the notebook in Google Colaboratory here.

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