相关论文: Robot Navigation in Risky, Crowded Environments: U…
Navigation in human-robot shared crowded environments remains challenging, as robots are expected to move efficiently while respecting human motion conventions. However, many existing approaches emphasize safety or efficiency while…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
Robot navigation in dynamic, crowded environments poses a significant challenge due to the inherent uncertainties in the obstacle model. In this work, we propose a risk-adaptive approach based on the Conditional Value-at-Risk Barrier…
As robots have become increasingly common in human-rich environments, it is critical that they are able to exhibit social cues to be perceived as a cooperative and socially-conformant team member. We investigate the effect of robot gaze…
Robots that can effectively understand human intentions from actions are crucial for successful human-robot collaboration. In this work, we address the challenge of a robot navigating towards an unknown goal while also accounting for a…
Robots operating in human-shared environments must not only achieve task-level navigation objectives such as safety and efficiency, but also adapt their behavior to human preferences. However, as human preferences are typically expressed in…
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…
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…
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…
Mobile robots have become more and more popular in large-scale and crowded environments, such as airports, shopping malls, etc. However, due to sparse landmarks and crowd noise, localization in this environment is a great challenge.…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
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…
Sampling-based methods such as Rapidly-exploring Random Trees (RRTs) have been widely used for generating motion paths for autonomous mobile systems. In this work, we extend time-based RRTs with Control Barrier Functions (CBFs) to generate,…
To operate in open-ended environments where humans interact in complex, diverse ways, autonomous robots must learn to predict their behaviour, especially when that behavior is potentially dangerous to other agents or to the robot. However,…
Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spatially constrained environments. Ensuring human safety,…
Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…
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…
As robots and digital assistants are deployed in the real world, these agents must be able to communicate their decision-making criteria to build trust, improve human-robot teaming, and enable collaboration. While the field of explainable…
Mobile robots are increasingly populating homes, hospitals, shopping malls, factory floors, and other human environments. Human society has social norms that people mutually accept; obeying these norms is an essential signal that someone is…
We consider the problem of learning user preferences over robot trajectories for environments rich in objects and humans. This is challenging because the criterion defining a good trajectory varies with users, tasks and interactions in the…