相关论文: Group Surfing: A Pedestrian-Based Approach to Side…

Robot navigation in crowded pedestrian environments is a well-known challenge and we explore the practical deployment of group-based representations in this setting. Pedestrian groups have been empirically shown to enable a mobile robot's…

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,…

In mobile robot navigation, despite advancements, the generation of optimal paths often disrupts pedestrian areas. To tackle this, we propose three key contributions to improve human-robot coexistence in shared spaces. Firstly, we have…

Outdoor navigation on sidewalks in urban environments is the key technology behind important human assistive applications, such as last-mile delivery or neighborhood patrol. This paper aims to develop a quadruped robot that follows a route…

It is challenging for a mobile robot to navigate through human crowds. Existing approaches usually assume that pedestrians follow a predefined collision avoidance strategy, like social force model (SFM) or optimal reciprocal collision…

We present a Pedestrian Dominance Model (PDM) to identify the dominance characteristics of pedestrians for robot navigation. Through a perception study on a simulated dataset of pedestrians, PDM models the perceived dominance levels of…

In densely populated environments, socially compliant navigation is critical for autonomous robots as driving close to people is unavoidable. This manner of social navigation is challenging given the constraints of human comfort and social…

Nowadays robot is supposed to demonstrate human-like perception, reasoning and behavior pattern in social or service application. However, most of the existing motion planning methods are incompatible with above requirement. A potential…

When two pedestrians approach each other on the sidewalk head-on, they sometimes engage in an awkward interaction, both deviating to the same side (repeatedly) to avoid a collision. This phenomenon is known as the sidewalk salsa. Although…

Walkability is a key component of sustainable urban development. In walkability studies, collecting detailed pedestrian infrastructure data remains challenging due to the high costs and limited scalability of traditional methods. Sidewalk…

Pedestrians and drivers interact closely in a wide range of environments. Autonomous vehicles (AVs) correspondingly face the need to predict pedestrians' future trajectories in these same environments. Traditional model-based prediction…

For robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e.g., passing on the right). However, while instinctive to humans, socially…

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…

Both pedestrian and robot comfort are of the highest priority whenever a robot is placed in an environment containing human beings. In the case of pedestrian-unaware mobile robots this desire for safety leads to the freezing robot problem,…

This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in…

Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…

Robots navigating in human crowds need to optimize their paths not only for their task performance but also for their compliance to social norms. One of the key challenges in this context is the lack of standard metrics for evaluating and…

Critical for the coexistence of humans and robots in dynamic environments is the capability for agents to understand each other's actions, and anticipate their movements. This paper presents Stochastic Process Anticipatory Navigation…

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…

We aim to enable a mobile robot to navigate through environments with dense crowds, e.g., shopping malls, canteens, train stations, or airport terminals. In these challenging environments, existing approaches suffer from two common…