Context-Aware Social Robot Navigation

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Abstrakt

With the emergence of robots being deployed in unstructured environments outside the industrial domain, the importance of robots behaving appropriately in the vicinity of people is becoming more clear. These behaviours are hard to model as they depend on the social context. This context includes among other things where the robot is deployed, how crowded that place is, as well as who are residing in that place. In this paper we extend social space theory with the social context, making them adaptable to the current situation. We implement the social spaces as costmaps used in the standard ROS navigation stack. Our method - Context-Aware Social robot Navigation (CASN) - is tested in the context of people avoidance in social navigation. We compare CASN with the social navigation layer package, which also implements costs based on detected people. We show that by using CASN a mobile robot complies with social conventions in four different navigation scenarios.

OriginalsprogEngelsk
TitelProceedings of the 18th International Conference on Informatics in Control, Automation and Robotics : ICINCO 2021
RedaktørerOleg Gusikhin, Henk Nijmeijer, Kurosh Madani
ForlagSCITEPRESS Digital Library
Publikationsdato2021
Sider426-433
ISBN (Elektronisk)9789897585227
DOI
StatusUdgivet - 2021
Begivenhed18th International Conference on Informatics in Control, Automation and Robotics (ICINCO) - Online
Varighed: 6. jul. 20218. jul. 2021
http://www.icinco.org/Home.aspx

Konference

Konference18th International Conference on Informatics in Control, Automation and Robotics (ICINCO)
LokationOnline
Periode06/07/202108/07/2021
Internetadresse

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