Related papers: Socially reactive navigation models for mobile rob…
Service robots need to show appropriate social behaviour in order to be deployed in social environments such as healthcare, education, retail, etc. Some of the main capabilities that robots should have are navigation and conversational…
Socially compliant navigation is an integral part of safety features in Human-Robot Interaction. Traditional approaches to mobile navigation prioritize physical aspects, such as efficiency, but social behaviors gain traction as robots…
Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, humans communicate their intentions and conform to unwritten…
Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions…
For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…
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…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
The increasing transition of human-robot interaction (HRI) context from controlled settings to dynamic, real-world public environments calls for enhanced adaptability in robotic systems. This can go beyond algorithmic navigation or…
We propose, analyze, and experimentally verify a new proactive approach for robot social navigation driven by the robot's "opinion" for which way and by how much to pass human movers crossing its path. The robot forms an opinion over time…
Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment,…
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…
Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…
This paper presents the framework for a novel Unified Socially-Aware Navigation (USAN) architecture and explains its need in Socially Assistive Robotics (SAR) applications. Our approach emphasizes interpersonal distance and how spatial…
Learning how to navigate among humans in an occluded and spatially constrained indoor environment, is a key ability required to embodied agent to be integrated into our society. In this paper, we propose an end-to-end architecture that…
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…
Smooth and seamless robot navigation while interacting with humans depends on predicting human movements. Forecasting such human dynamics often involves modeling human trajectories (global motion) or detailed body joint movements (local…
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…
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…
Robotic navigation through crowds or herds requires the ability to both predict the future motion of nearby individuals and understand how these predictions might change in response to a robot's future action. State of the art trajectory…
There is a growing demand for mobile robots to operate in more variable environments, where guaranteeing safe robot navigation is a priority, in addition to time performance. To achieve this, current solutions for local planning use a…