Before revision:  We evaluate our method in realistic 3-D simulation and on a real differential drive robot in challenging  indoor scenarios with crowds of varying densities. We make comparisons with traditional and current state-of-the-art collision avoidance methods and observe significant improvements in terms of collision rate , number of dynamics constraint violations and smoothness.
After revision:  We evaluate our method in realistic 3-D simulation and on a real differential drive robot in challenging indoor scenarios with several walking pedestrians. We compare our method with state-of-the-art collision avoidance methods and observe significant improvements in terms of collision rate , number of dynamics constraint violations and smoothness.