Songhao Piao

PPO-GAT-Follow: Graph-Attention Reinforcement Learning for Robust Robot Person Following in Dense Crowds

Xinyu Zhou, Ye Shi, Songhao Piao, Chao Gao

Robot person following (RPF) in dense crowds requires a mobile robot to maintain an appropriate relative position with respect to a moving target while avoiding surrounding pedestrians and satisfying rear-following and social constraints. This paper proposes PPO-GAT-Follow, an in…Read more