相关论文: Socially-Aware Navigation: A Non-linear Multi-Obje…
Human-aware robot navigation promises a range of applications in which mobile robots bring versatile assistance to people in common human environments. While prior research has mostly focused on modeling pedestrians as independent,…
Social robotic navigation has been at the center of numerous studies in recent years. Most of the research has focused on driving the robotic agent along obstacle-free trajectories, respecting social distances from humans, and predicting…
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,…
Establishing standardized metrics for Social Robot Navigation (SRN) algorithms for assessing the quality and social compliance of robot behavior around humans is essential for SRN research. Currently, commonly used evaluation metrics lack…
In public spaces shared with humans, ensuring multi-robot systems navigate without collisions while respecting social norms is challenging, particularly with limited communication. Although current robot social navigation techniques…
Human-aware navigation is a complex task for mobile robots, requiring an autonomous navigation system capable of achieving efficient path planning together with socially compliant behaviors. Social planners usually add costs or constraints…
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…
Navigating socially in human environments requires more than satisfying geometric constraints, as collision-free paths may still interfere with ongoing activities or conflict with social norms. Addressing this challenge calls for analyzing…
Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstructured settings, conventional navigation systems that rely…
Mobile robot navigation in dynamic human environments requires policies that balance adaptability to diverse behaviors with compliance to safety constraints. We hypothesize that integrating data-driven rewards with rule-based objectives…
Mobile robot navigation has seen extensive research in the last decades. The aspect of collaboration with robots and humans sharing workspaces will become increasingly important in the future. Therefore, the next generation of mobile robots…
Human robot collaboration (HRC) is becoming increasingly important as the paradigm of manufacturing is shifting from mass production to mass customization. The introduction of HRC can significantly improve the flexibility and intelligence…
Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…
The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…
Navigating in crowded environments requires the robot to be equipped with high-level reasoning and planning techniques. Existing works focus on developing complex and heavyweight planners while ignoring the role of human intelligence. Since…
Risky and crowded environments (RCE) contain abstract sources of risk and uncertainty, which are perceived differently by humans, leading to a variety of behaviors. Thus, robots deployed in RCEs, need to exhibit diverse perception and…
Recent advances in robotics and large language models (LLMs) have sparked growing interest in human-robot collaboration and embodied intelligence. To enable the broader deployment of robots in human-populated environments, socially-aware…
Towards human-robot coexistence, socially aware navigation is significant for mobile robots. Yet existing studies on this area focus mainly on path efficiency and pedestrian collision avoidance, which are essential but represent only a…
Nowadays, robots are expected to interact more physically, cognitively, and socially with people. They should adapt to unpredictable contexts alongside individuals with various behaviours. For this reason, personalisation is a valuable…
We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity…