Related papers: The Socially Invisible Robot: Navigation in the So…
We present a data-driven algorithm to model and predict the socio-emotional impact of groups on observers. Psychological research finds that highly entitative i.e. cohesive and uniform groups induce threat and unease in observers. Our…
Robots that navigate through human crowds need to be able to plan safe, efficient, and human predictable trajectories. This is a particularly challenging problem as it requires the robot to predict future human trajectories within a crowd…
Robot navigation in crowded pedestrian environments is a well-known challenge and we explore the practical deployment of group-based representations in this setting. Pedestrian groups have been empirically shown to enable a mobile robot's…
We present a real-time algorithm for emotion-aware navigation of a robot among pedestrians. Our approach estimates time-varying emotional behaviors of pedestrians from their faces and trajectories using a combination of Bayesian-inference,…
In densely populated environments, socially compliant navigation is critical for autonomous robots as driving close to people is unavoidable. This manner of social navigation is challenging given the constraints of human comfort and social…
Human-aware robot navigation promises a range of applications in which mobile robots bring versatile assistance to people in common human environments. While prior research has mostly focused on modeling pedestrians as independent,…
Social robot navigation in crowded public spaces such as university campuses, restaurants, grocery stores, and hospitals, is an increasingly important area of research. One of the core strategies for achieving this goal is to understand…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
When humans navigate a crowed space such as a university campus or the sidewalks of a busy street, they follow common sense rules based on social etiquette. In this paper, we argue that in order to enable the design of new algorithms that…
For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…
With the increasing availability and affordability of personal robots, they will no longer be confined to large corporate warehouses or factories but will instead be expected to operate in less controlled environments alongside larger…
Social robot navigation can be helpful in various contexts of daily life but requires safe human-robot interactions and efficient trajectory planning. While modeling pairwise relations has been widely studied in multi-agent interacting…
We present DenseCAvoid, a novel navigation algorithm for navigating a robot through dense crowds and avoiding collisions by anticipating pedestrian behaviors. Our formulation uses visual sensors and a pedestrian trajectory prediction…
Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…
If a robot can predict crowds in parts of its environment that are inaccessible to its sensors, then it can plan to avoid them. This paper proposes a fast, online algorithm that learns average crowd densities in different areas. It also…
This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in…
Current approaches in human-aware or social robot navigation address the humans that are visible to the robot. However, it is also important to address the possible emergences of humans to avoid shocks or surprises to humans and erratic…
Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…
The primary aim of this paper is to investigate the integration of emotions into the social navigation framework to analyse its effect on both navigation and human physiological safety and comfort. The proposed framework uses leg detection…
We present a real-time algorithm, SocioSense, for socially-aware navigation of a robot amongst pedestrians. Our approach computes time-varying behaviors of each pedestrian using Bayesian learning and Personality Trait theory. These…