Related papers: Enhancing Social Robot Navigation with Integrated …
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…
Service robots that work alongside humans in a shared environment need a navigation system that takes into account not only physical safety but also social norms for mutual cooperation. In this paper, we introduce a motion planning system…
To achieve autonomy in unknown and unstructured environments, we propose a method for semantic-based planning under perceptual uncertainty. This capability is crucial for safe and efficient robot navigation in environment with…
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…
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.…
In practical applications, the unpredictable movement of obstacles and the imprecise state observation of robots introduce significant uncertainties for the swarm of robots, especially in cluster environments. However, existing methods are…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation. First, we developed a model that approximates both…
Predictive planning is a key capability for robots to efficiently and safely navigate populated environments. Particularly in densely crowded scenes, with uncertain human motion predictions, predictive path planning, and control can become…
We present an end-to-end online motion planning framework that uses a data-driven approach to navigate a heterogeneous robot team towards a global goal while avoiding obstacles in uncertain environments. First, we use stochastic model…
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…
Navigating mobile robots in social environments remains a challenging task due to the intricacies of human-robot interactions. Most of the motion planners designed for crowded and dynamic environments focus on choosing the best velocity to…
Navigation in human-robot shared crowded environments remains challenging, as robots are expected to move efficiently while respecting human motion conventions. However, many existing approaches emphasize safety or efficiency while…
As social beings, much human behavior is predicated on social context - the ambient social state that includes cultural norms, social signals, individual preferences, etc. In this paper, we propose a socially-aware task and motion planning…
Generating accurate and efficient predictions for the motion of the humans present in the scene is key to the development of effective motion planning algorithms for robots moving in promiscuous areas, where wrong planning decisions could…
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…
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 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…
To achieve seamless human-robot interactions, robots need to intimately reason about complex interaction dynamics and future human behaviors within their motion planning process. However, there is a disconnect between state-of-the-art…
In the rapidly evolving landscape of autonomous mobile robots, the emphasis on seamless human-robot interactions has shifted towards autonomous decision-making. This paper delves into the intricate challenges associated with robotic…