Context-Aware Social Robot Navigation

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 18th International Conference on Informatics in Control, Automation and Robotics : ICINCO 2021
EditorsOleg Gusikhin, Henk Nijmeijer, Kurosh Madani
PublisherSCITEPRESS Digital Library
Publication date2021
Pages426-433
ISBN (Electronic)9789897585227
DOIs
Publication statusPublished - 2021
Event18th International Conference on Informatics in Control, Automation and Robotics (ICINCO) - Online
Duration: 6. Jul 20218. Jul 2021
http://www.icinco.org/Home.aspx

Conference

Conference18th International Conference on Informatics in Control, Automation and Robotics (ICINCO)
LocationOnline
Period06/07/202108/07/2021
Internet address

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