Uncertainty-aware Non-linear Model Predictive Control for Human-following Companion Robot
Shunichi Sekiguchi Ayanori Yorozu Kazuhiro Kuno Masaki Okada Yutaka Watanabe Masaki Takahashi Shunichi Sekiguchi Ayanori Yorozu Kazuhiro Kuno Masaki Okada Yutaka Watanabe Masaki Takahashi
For a companion robot that follows a person as an assistant, predicting human walking is important to produce a proactive movement that is helpful to maintain an appropriate area decided by the human personal space. However, fully trusting the prediction may result in obstructing human walking because it is not always accurate. Hence, we consider the estimation of uncertainty (i.e., entropy) of th...