Software Open Access

Software: Reactive Driving Support - CrowdBot Release

David Gonon; Diego F. Paez G.; Aude Billard


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        "title": "Safe Robot Navigation in Dense Crowds", 
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    "publication_date": "2021-02-17", 
    "creators": [
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        "name": "David Gonon"
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        "affiliation": "LASA-EPFL", 
        "name": "Diego F. Paez G."
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    "description": "<p>This first software&nbsp;release includes the main Reactive Driving Support (RDS), a method for robots to avoid imminent collisions with moving obstacles, which has been developed as part of research at LASA, EPFL.</p>\n\n<p>It is included documentation for its simple implementation through ROS wrapper that includes methods for both non-holonomic robots, as well as, holonomic robots. The main input is obstacles&#39; location and velocity which can be pre-processed dynamic obstacles tracking (e.g., yolo people detector) or raw proximity data (e.g., lidar point-clouds projected in 2D).</p>\n\n<p>The main package was developed in C++, and has been tested with the robot Qolo with an average frequency of 150Hz for 2 LIDAR inputs in a single core i7 2.2 Ghz.</p>"
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