Software Open Access

Software: Reactive Driving Support - CrowdBot Release

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


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    <subfield code="a">Software: Reactive Driving Support - CrowdBot Release</subfield>
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    <subfield code="a">Safe Robot Navigation in Dense Crowds</subfield>
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    <subfield code="a">&lt;p&gt;This first software&amp;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.&lt;/p&gt;

&lt;p&gt;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&amp;#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).&lt;/p&gt;

&lt;p&gt;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.&lt;/p&gt;</subfield>
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