Safe Hierarchical Navigation in Cluttered Dynamic Uncertain Environments

Table of Contents

• Introduction
• Install
• Usage
• Acknowledgments

Introduction

Please cite our paper as:

@inproceedings{chen2022safe,
  title={Safe Hierarchical Navigation in Crowded Dynamic Uncertain Environments},
  author={Chen, Hongyi and Feng, Shiyu and Zhao, Ye and Liu, Changliu and Vela, Patricio A},
  booktitle={2022 IEEE 61st Conference on Decision and Control (CDC)},
  pages={1174--1181},
  year={2022},
  organization={IEEE}
}

Install

pip install future
pip install keras
pip install matplotlib
pip install gym
pip install cvxopt

Usage

python Navigation.py --display {none, turtle}

If you want to change the number of obstacles in the environment, you can change the obs_num variable in Navigation.py line 36.

Acknowledgments

Part of the simulation environment code is coming from the course CS 7638: Artificial Intelligence for Robotics in GaTech. We get the permission from the lecturor Jay Summet to use this code for research.