Related papers: Towards a Unified Planner For Socially-Aware Navig…
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.…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Safe navigation of autonomous agents in human centric environments requires the ability to understand and predict motion of neighboring pedestrians. However, predicting pedestrian intent is a complex problem. Pedestrian motion is governed…
This study addresses the challenge of integrating social norms into robot navigation, which is essential for ensuring that robots operate safely and efficiently in human-centric environments. Social norms, often unspoken and implicitly…
The integration of Unmanned Aerial Vehicles (UAVs) into Search and Rescue (SAR) missions presents a promising avenue for enhancing operational efficiency and effectiveness. However, the success of these missions is not solely dependent on…
Recent advances in robotics and large language models (LLMs) have sparked growing interest in human-robot collaboration and embodied intelligence. To enable the broader deployment of robots in human-populated environments, socially-aware…
Social navigation in densely populated dynamic environments poses a significant challenge for autonomous mobile robots, requiring advanced strategies for safe interaction. Existing reinforcement learning (RL)-based methods require over…
When humans move in a shared space, they choose navigation strategies that preserve their mutual safety. At the same time, each human seeks to minimise the number of modifications to her/his path. In order to achieve this result, humans use…
With the number of people with disabilities (PWD) increasing worldwide each year, the demand for mobility support to enable independent living and social integration is also growing. Wheelchairs commonly support the mobility of PWD in both…
In this paper, we consider the problem of designing collision-free, dynamically feasible, and socially-aware trajectories for robots operating in environments populated by humans. We define trajectories to be social-aware if they do not…
The ultimate navigation efficiency of mobile robots in human environments will depend on how we will appraise them: merely as impersonal machines or as human-like agents. In the latter case, an agent may take advantage of the cooperative…
Developing robotic technologies for use in human society requires ensuring the safety of robots' navigation behaviors while adhering to pedestrians' expectations and social norms. However, maintaining real-time communication between robots…
A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation…
We introduce and open-source the Unified Autonomy Stack, a system-level solution that enables resilient autonomy across diverse aerial and ground robot morphologies. The architecture centers on three synergistic modules -- multi-modal…
Navigation strategies that intentionally incorporate contact with humans (i.e. "contact-based" social navigation) in crowded environments are largely unexplored even though collision-free social navigation is a well studied problem.…
Human navigation in built environments depends on symbolic spatial information which has unrealised potential to enhance robot navigation capabilities. Information sources such as labels, signs, maps, planners, spoken directions, and…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
Navigating robots discreetly in human work environments while considering the possible privacy implications of robotic tasks presents significant challenges. Such scenarios are increasingly common, for instance, when robots transport…
Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…