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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…

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 navigation and pedestrian behavior research has shifted towards machine learning-based methods and converged on the topic of modeling inter-pedestrian interactions and pedestrian-robot interactions. For this, large-scale datasets…

A robot guide dog has compelling advantages over animal guide dogs for its cost-effectiveness, potential for mass production, and low maintenance burden. However, despite the long history of guide dog robot research, previous studies were…

In this paper, we present a robotic navigation algorithm with natural language interfaces, which enables a robot to safely walk through a changing environment with moving persons by following human instructions such as "go to the restaurant…

Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…

We present experimental results on the single file motion of a group of robots interacting with each other through position sensors. We successfully replicate the fundamental diagram typical of these systems, with a transition from free…

This paper studies how groups of robots can effectively navigate through a crowd of agents. It quantifies the performance of platooning and less constrained, greedy strategies, and the extent to which these strategies disrupt the crowd…

This study presents an initial framework for distinguishing group and single pedestrians based on real-world trajectory data, with the aim of analyzing their differences in space utilization and emergent behavioral patterns. By segmenting…

Safe and efficient navigation in dynamic environments shared with humans remains an open and challenging task for mobile robots. Previous works have shown the efficacy of using reinforcement learning frameworks to train policies for…

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…

Deep neural networks trained on demonstrations of human actions give robot the ability to perform self-driving on the road. However, navigation in a pedestrian-rich environment, such as a campus setup, is still challenging---one needs to…

The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation…

In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in $\text{RRT}^\text{X}$, a randomized sampling-based replanning algorithm that guarantees asymptotic optimality,…

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…

As the presence of autonomous robots in public spaces increases-whether navigating campus walkways or neighborhood sidewalks-understanding how to carefully study these robots becomes critical. While HRI research has conducted field studies…

As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through gestures and facial…

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…

Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…

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…