This work presents a new iteration of the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, programmed under the ROS 2 framework, can be used together with different well-known robotics simulators such as Gazebo or NVidia Isaac Sim. The main goal is to facilitate the development and evaluation of human-aware robot navigation systems in simulation. In this new version, several features have been improved and new ones added, such as the extended set of actions and conditions that can be combined in Behavior Trees to compound complex and realistic human behaviors.
@article{arxiv.2507.17317,
title = {HuNavSim 2.0: An Enhanced Human Navigation Simulator for Human-Aware Robot Navigation},
author = {Miguel Escudero-Jiménez and Noé Pérez-Higueras and Andrés Martínez-Silva and Fernando Caballero and Luis Merino},
journal= {arXiv preprint arXiv:2507.17317},
year = {2025}
}
Comments
Preprint submitted to the 8th Iberian Robotics Conference (ROBOT 2025)