相关论文: Socially Aware Motion Planning with Deep Reinforce…

Empowering robots to navigate in a socially compliant manner is essential for the acceptance of robots moving in human-inhabited environments. Previously, roboticists have developed geometric navigation systems with decades of empirical…

This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to…

Autonomous navigation is an essential capability of smart mobility for mobile robots. Traditional methods must have the environment map to plan a collision-free path in workspace. Deep reinforcement learning (DRL) is a promising technique…

We are interested in the design of autonomous robot behaviors that learn the preferences of users over continued interactions, with the goal of efficiently executing navigation behaviors in a way that the user expects. In this paper, we…

This paper proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces filled with both static obstacles and dense crowds of…

Safe and efficient crowd navigation for mobile robot is a crucial yet challenging task. Previous work has shown the power of deep reinforcement learning frameworks to train efficient policies. However, their performance deteriorates when…

Current state-of-the-art crowd navigation approaches are mainly deep reinforcement learning (DRL)-based. However, DRL-based methods suffer from the issues of generalization and scalability. To overcome these challenges, we propose a method…

Mobility in an effective and socially-compliant manner is an essential yet challenging task for robots operating in crowded spaces. Recent works have shown the power of deep reinforcement learning techniques to learn socially 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…

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…

It is still an open and challenging problem for mobile robots navigating along time-efficient and collision-free paths in a crowd. The main challenge comes from the complex and sophisticated interaction mechanism, which requires the robot…

Teaching autonomous mobile robots to successfully navigate human crowds is a challenging task. Not only does it require planning, but it requires maintaining social norms which may differ from one context to another. Here we focus on crowd…

Efficient point-to-point navigation in the presence of a background flow field is important for robotic applications such as ocean surveying. In such applications, robots may only have knowledge of their immediate surroundings or be faced…

We present a navigation system that combines ideas from hierarchical planning and machine learning. The system uses a traditional global planner to compute optimal paths towards a goal, and a deep local trajectory planner and velocity…

Recent advances in the field of machine learning have led to new ways for mobile robots to acquire advanced navigational capabilities. However, these learning-based methods raise the possibility that learned navigation behaviors may not…

The exponentially increasing advances in robotics and machine learning are facilitating the transition of robots from being confined to controlled industrial spaces to performing novel everyday tasks in domestic and urban environments. In…

Motion control algorithms in the presence of pedestrians are critical for the development of safe and reliable Autonomous Vehicles (AVs). Traditional motion control algorithms rely on manually designed decision-making policies which neglect…

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…

Safe and efficient co-planning of multiple robots in pedestrian participation environments is promising for applications. In this work, a novel multi-robot social-aware efficient cooperative planner that on the basis of off-policy…

Autonomous mobile robots are increasingly used in pedestrian-rich environments where safe navigation and appropriate human interaction are crucial. While Deep Reinforcement Learning (DRL) enables socially integrated robot behavior,…