相关论文: Learning to Socially Navigate in Pedestrian-rich E…

Mobile robots are being used on a large scale in various crowded situations and become part of our society. The socially acceptable navigation behavior of a mobile robot with individual human consideration is an essential requirement for…

Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…

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…

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…

Socially aware navigation is a fast-evolving research area in robotics that enables robots to move within human environments while adhering to the implicit human social norms. The advent of Deep Reinforcement Learning (DRL) has accelerated…

We present a novel Deep Reinforcement Learning (DRL) based policy to compute dynamically feasible and spatially aware velocities for a robot navigating among mobile obstacles. Our approach combines the benefits of the Dynamic Window…

Autonomous navigation capabilities play a critical role in service robots operating in environments where human interactions are pivotal, due to the dynamic and unpredictable nature of these environments. However, the variability in human…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

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…

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…

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…

Although deep reinforcement learning (DRL) has shown promising results for autonomous navigation in interactive traffic scenarios, existing work typically adopts a fixed behavior policy to control social vehicles in the training…

Multi-robot navigation is a challenging task in which multiple robots must be coordinated simultaneously within dynamic environments. We apply deep reinforcement learning (DRL) to learn a decentralized end-to-end policy which maps raw…

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,…

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…

Robot navigation using deep reinforcement learning (DRL) has shown great potential in improving the performance of mobile robots. Nevertheless, most existing DRL-based navigation methods primarily focus on training a policy that directly…

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,…

Reinforcement learning (RL) methods for social robot navigation show great success navigating robots through large crowds of people, but the performance of these learning-based methods tends to degrade in particularly challenging or…

The use of robotics in controlled environments has flourished over the last several decades and training robots to perform tasks using control strategies developed from dynamical models of their hardware have proven very effective. However,…

In this paper, we present an autonomous navigation system for goal-driven exploration of unknown environments through deep reinforcement learning (DRL). Points of interest (POI) for possible navigation directions are obtained from the…