SAP-CoPE: Social-Aware Planning using Cooperative Pose Estimation with Infrastructure Sensor Nodes
SAP-CoPE is an indoor navigation framework designed for autonomous robots to operate safely and comfortably around people. It combines cooperative sensing from infrastructure nodes with 3D human pose estimation to understand where humans are and what they might do. This information feeds into a model predictive control planner that creates trajectories respecting both physical safety and psychological comfort zones.