Robot Navigation in Crowd Based on Dual Social Attention Deep Reinforcement Learning

<div>Trajectory comparison with other algorithms. These circles indicate the position of the robot or human at a certain moment. Yellow circle means the robot; other colours are human circle. (a) Trajectory path diagram using CADRL algorithm. (b) Trajectory path diagram using LSTM-RL algorithm. (c) Trajectory path diagram using SARL algorithm. (d) Trajectory path diagram using our DSARL algorithm.</div>

Mathematical Problems in Engineering

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Figure 5: Robot Navigation in Crowd Based on Dual Social Attention Deep Reinforcement Learning 