Towards Socially Acceptable, Human-Aware Robot Navigation

Noelia Fernandez Coleto*, Eduardo Ruiz Ramírez, Frederik Haarslev, Leon Bodenhagen

*Corresponding author for this work

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

45 Downloads (Pure)


The introduction of service robots to our daily life requires adaptation of the current navigation strategies. In the presence of humans, robots must be designed to ensure their safety and comfort. This paper proposes a layered costmap architecture that incorporates social norms to generate trajectories compatible with human preferences. The implemented framework creates a social abstraction of the environment – in the form of an occupancy grid – to plan human-friendly paths. It employs information about individuals in the scene to model their personal spaces. In addition, it uses predicted human trajectories to improve the efficiency and legibility of the robot trajectory. Different simulation scenarios resembling everyday situations have been used to evaluate the proposed framework. The results of the experiments have demonstrated its ability to behave according to social conventions. Furthermore, the navigation system was assessed in real life experiments where it was proved capable of following similar paths to those performed by humans.
Original languageEnglish
Title of host publicationSocial Robotics : 11th International Conference, ICSR 2019, Madrid, Spain, November 26–29, 2019, Proceedings
EditorsMiguel A. Salichs, Shuzhi Sam Ge, Emilia Ivanova Barakova, John-John Cabibihan, Alan R. Wagner, Álvaro Castro-González, Hongsheng He
Publication date2019
ISBN (Print)978-3-030-35887-7
ISBN (Electronic)Online ISBN 978-3-030-35888-4
Publication statusPublished - 2019
Event11th International Conference on Social Robotics - Madrid, Madrid, Spain
Duration: 26. Nov 201929. Nov 2019


Conference11th International Conference on Social Robotics
SeriesLecture Notes in Computer Science


  • HRI
  • Personal space
  • Socially acceptable navigation


Dive into the research topics of 'Towards Socially Acceptable, Human-Aware Robot Navigation'. Together they form a unique fingerprint.

Cite this