相关论文: Social Zone as a Barrier Function for Socially-Com…

The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…

Interactions within human societies are usually regulated by social norms. If robots are to be accepted into human society, it is essential that they are aware of and capable of reasoning about social norms. In this paper, we focus on how…

This work is dedicated to the study of how uncertainty estimation of the human motion prediction can be embedded into constrained optimization techniques, such as Model Predictive Control (MPC) for the social robot navigation. We propose…

Deploying robots in human environments requires effective social robot navigation. This article focuses on proxemics, proposing a new taxonomy and suggesting future directions through an analysis of state-of-the-art studies and the…

Robots moving safely and in a socially compliant manner in dynamic human environments is an essential benchmark for long-term robot autonomy. However, it is not feasible to learn and benchmark social navigation behaviors entirely in the…

Intelligent systems are increasingly part of our everyday lives and have been integrated seamlessly to the point where it is difficult to imagine a world without them. Physical manifestations of those systems on the other hand, in the form…

Navigating social robots in dense, dynamic crowds is challenging due to environmental uncertainty and complex human-robot interactions. While Model Predictive Control (MPC) offers strong real-time performance, its reliance on a fixed…

In modern society, service robots are increasingly recognized for their wide range of practical applications. In large and crowded social spaces, such as museums and hospitals, these robots are required to safely move in the environment…

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…

Social Robot Navigation is the skill that allows robots to move efficiently in human-populated environments while ensuring safety, comfort, and trust. Unlike other areas of research, the scientific community has not yet achieved an…

Social robot navigation is an evolving research field that aims to find efficient strategies to safely navigate dynamic environments populated by humans. A critical challenge in this domain is the accurate modeling of human motion, which…

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…

Social robot navigation algorithms are often demonstrated in overly simplified scenarios, prohibiting the extraction of practical insights about their relevance to real-world domains. Our key insight is that an understanding of the inherent…

In this paper, we consider the problem of designing collision-free, dynamically feasible, and socially-aware trajectories for robots operating in environments populated by humans. We define trajectories to be social-aware if they do not…

Adapting to social conventions is an unavoidable requirement for the acceptance of assistive and social robots. While the scientific community broadly accepts that assistive robots and social robot companions are unlikely to have widespread…

Recent protocols and metrics for training and evaluating autonomous robot navigation through crowds are inconsistent due to diversified definitions of "social behavior". This makes it difficult, if not impossible, to effectively compare…

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,…

When humans move in a shared space, they choose navigation strategies that preserve their mutual safety. At the same time, each human seeks to minimise the number of modifications to her/his path. In order to achieve this result, humans use…

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…

As robots across domains start collaborating with humans in shared environments, algorithms that enable them to reason over human intent are important to achieve safe interplay. In our work, we study human intent through the problem of…