Related papers: Towards S-NAMO: Socially-aware Navigation Among Mo…
Navigation among movable obstacles (NAMO) is a critical task in robotics, often challenged by real-world uncertainties such as observation noise, model approximations, action failures, and partial observability. Existing solutions…
Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually leads to unnatural and inefficient motions that significantly differ from the way humans move in tight…
In this paper, we examine the problem of visibility-aware robot navigation among movable obstacles (VANAMO). A variant of the well-known NAMO robotic planning problem, VANAMO puts additional visibility constraints on robot motion and object…
Several planners have been proposed to compute robot paths that reach desired goal regions while avoiding obstacles. However, these methods fail when all pathways to the goal are blocked. In such cases, the robot must reason about how to…
Navigation Among Movable Obstacles (NAMO) poses a challenge for traditional path-planning methods when obstacles block the path, requiring push actions to reach the goal. We propose a framework that enables movability-aware planning to…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
We propose a hierarchical reinforcement learning (HRL) framework for efficient Navigation Among Movable Obstacles (NAMO) using a mobile manipulator. Our approach combines interaction-based obstacle property estimation with structured…
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…
This paper introduces SANGO (Socially Aware Navigation through Grouped Obstacles), a novel method that ensures socially appropriate behavior by dynamically grouping obstacles and adhering to social norms. Using deep reinforcement learning,…
This paper explores the Navigation Among Movable Obstacles (NAMO) problem and proposes joint path and push planning: which path to take and in what direction the obstacles should be pushed at, given a start and goal position. We present a…
This paper introduces a framework for interactive navigation through adaptive non-prehensile mobile manipulation. A key challenge in this process is handling objects with unknown dynamics, which are difficult to infer from visual…
This paper introduces a novel approach for robot navigation in challenging dynamic environments. The proposed method builds upon the concept of Velocity Obstacles (VO) that was later extended to Nonlinear Velocity Obstacles (NLVO) to…
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…
Robot navigation in crowded public spaces is a complex task that requires addressing a variety of engineering and human factors challenges. These challenges have motivated a great amount of research resulting in important developments for…
This paper addresses the issue of motion planning in dynamic environments by extending the concept of Velocity Obstacle and Nonlinear Velocity Obstacle to Acceleration Obstacle AO and Nonlinear Acceleration Obstacle NAO. Similarly to VO and…
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…
Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions…
The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…
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…
Social navigation for bipedal robots remains relatively unexplored due to the highly complex, nonlinear dynamics of bipedal locomotion. This study presents a preliminary exploration of social navigation for bipedal robots in a human crowded…