相关论文: Group Surfing: A Pedestrian-Based Approach to Side…
When humans navigate a crowed space such as a university campus or the sidewalks of a busy street, they follow common sense rules based on social etiquette. In this paper, we argue that in order to enable the design of new algorithms that…
For autonomous robots navigating in urban environments, it is important for the robot to stay on the designated path of travel (i.e., the footpath), and avoid areas such as grass and garden beds, for safety and social conformity…
We claim that navigation in human environments can be viewed as cooperative activity especially in constrained situations. Humans concurrently aid and comply with each other while moving in a shared space. Cooperation helps pedestrians to…
Existing navigation policies for autonomous robots tend to focus on collision avoidance while ignoring human-robot interactions in social life. For instance, robots can pass along the corridor safer and easier if pedestrians notice them.…
Sidewalk delivery robots are a promising solution for last-mile freight distribution. Yet, they operate in dynamic environments characterized by pedestrian flows and potential obstacles, which make travel times highly uncertain and can…
When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…
One of the most important barriers toward a widespread use of mobile robots in unstructured and human populated work environments is the ability to plan a safe path. In this paper, we propose to delegate this activity to a human operator…
COVID-19 pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19. Against this backdrop, we propose that the surveillance…
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.…
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…
Robots operating in human-populated environments must navigate safely and efficiently while minimizing social disruption. Achieving this requires estimating crowd movement to avoid congested areas in real-time. Traditional microscopic…
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…
Autonomous navigation in highly populated areas remains a challenging task for robots because of the difficulty in guaranteeing safe interactions with pedestrians in unstructured situations. In this work, we present a crowd navigation…
In situations where humans and robots are moving in the same space whilst performing their own tasks, predictable paths taken by mobile robots can not only make the environment feel safer, but humans can also help with the navigation in the…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
Most current approaches to social navigation focus on the trajectory and position of participants in the interaction. Our current work on the topic focuses on integrating gaze into social navigation, both to cue nearby pedestrians as to the…
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…
Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory…
Robots are increasingly being deployed in public spaces such as shopping malls, sidewalks, and hospitals, where safe and socially aware navigation depends on anticipating how pedestrians respond to their presence. However, existing datasets…
We focus on robot navigation in crowded environments. The challenge of predicting the motion of a crowd around a robot makes it hard to ensure human safety and comfort. Recent approaches often employ end-to-end techniques for robot control…