相关论文: Learning Contact-based Navigation in Crowds

Moving in complex environments is an essential capability of intelligent mobile robots. Decades of research and engineering have been dedicated to developing sophisticated navigation systems to move mobile robots from one point to another.…

In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken online based on the knowledge encoded in learned models.…

This work studies a robot-assisted crowd evacuation problem where we control a small group of robots to guide a large human crowd to safe locations. The challenge lies in how to model human-robot interactions and design robot controls to…

A major goal in robotics is to enable intelligent mobile robots to operate smoothly in shared human-robot environments. One of the most fundamental capabilities in service of this goal is competent navigation in this ``social" context. As a…

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…

Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…

We study the problem of safe and intention-aware robot navigation in dense and interactive crowds. Most previous reinforcement learning (RL) based methods fail to consider different types of interactions among all agents or ignore the…

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…

Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…

Ensuring safe navigation in human-populated environments is crucial for autonomous mobile robots. Although recent advances in machine learning offer promising methods to predict human trajectories in crowded areas, it remains unclear how…

This paper addresses navigation in crowded environments by integrating goal-conditioned generative models with Sampling-based Model Predictive Control (SMPC). We introduce goal-conditioned autoregressive models to generate crowd behaviors,…

Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…

With the increasing presence of service robots and autonomous vehicles in human environments, navigation systems need to evolve beyond simple destination reach to incorporate social awareness. This paper introduces GSON, a novel group-based…

Learning how to navigate among humans in an occluded and spatially constrained indoor environment, is a key ability required to embodied agent to be integrated into our society. In this paper, we propose an end-to-end architecture that…

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…

Autonomously navigating a robot in everyday crowded spaces requires solving complex perception and planning challenges. When using only monocular image sensor data as input, classical two-dimensional planning approaches cannot be used.…

We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuator limitations. We adopt the coordination space approach, which is standard in multiple robot…

We present a context classification pipeline to allow a robot to change its navigation strategy based on the observed social scenario. Socially-Aware Navigation considers social behavior in order to improve navigation around people. Most of…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…

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.…