Human-aware robot navigation: A survey

Kruse, Thibault; Pandey, Amit Kumar; Alami, Rachid; Kirsch, Alexandra

doi:10.1016/j.robot.2013.05.007

Cited by 611 publications

(407 citation statements)

References 82 publications

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“…As path-planning in a human-centric environment essentially constitutes a case of human-robot interaction, researchers have assessed navigation not just as a predictand-plan system, but have also considered interaction and human factors issues [17], [18]. Sisbot et al [19] presented one of the first approaches to human-aware motion planning.…”

Section: A Path Planning For Robots Working Among Humansmentioning

confidence: 99%

Human-robot co-navigation using anticipatory indicators of human walking motion

Unhelkar

Pérez-D’Arpino

Stirling

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Mobile, interactive robots that operate in humancentric environments need the capability to safely and efficiently navigate around humans. This requires the ability to sense and predict human motion trajectories and to plan around them. In this paper, we present a study that supports the existence of statistically significant biomechanical turn indicators of human walking motions. Further, we demonstrate the effectiveness of these turn indicators as features in the prediction of human motion trajectories. Human motion capture data is collected with predefined goals to train and test a prediction algorithm. Use of anticipatory features results in improved performance of the prediction algorithm. Lastly, we demonstrate the closedloop performance of the prediction algorithm using an existing algorithm for motion planning within dynamic environments. The anticipatory indicators of human walking motion can be used with different prediction and/or planning algorithms for robotics; the chosen planning and prediction algorithm demonstrates one such implementation for human-robot conavigation.

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Section: A Path Planning For Robots Working Among Humansmentioning

confidence: 99%

Human-robot co-navigation using anticipatory indicators of human walking motion

Unhelkar

Pérez-D’Arpino

Stirling

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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“…The concept of "comfort" has already appeared in the literature with different meanings: 1) comfort of the AP when navigating using a robotic platform [17,29] and 2) comfort of the humans in the area surrounding an autonomous robot [22]. Our notion of comfort belongs to the first class and it is deeply rooted in the requirement analysis and in the validation activities with senior users that we have been conducting in the context of the DALi and of the ACANTO projects.…”

Section: Global Constraints and Preferencesmentioning

confidence: 99%

Efficient customisable dynamic motion planning for assistive robots in complex human environments

Colombo

Fontanelli

Legay

et al. 2015

AIS

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Abstract. People with impaired physical and mental ability often find it challenging to negotiate crowded or unfamiliar environments, leading to a vicious cycle of deteriorating mobility and sociability. To address this issue we present a novel motion planning algorithm that is able to intelligently deal with crowded areas, permanent or temporary anomalies in the environment (e.g., road blocks, wet floors) as well as hard and soft constraints (e.g., "keep a toilet within reach of 10 meters during the journey", "always avoid stairs"). Constraints can be assigned a priority tailored on the user's needs. The planner has been validated by means of simulations and experiments with elderly people within the context of the DALi European project.

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“…In general, recent experiments with robots in public spaces have tended to concentrate either purely on human-aware navigation (e.g. [6,14]), or purely on natural-language interaction (e.g. [2]), rather than on the combination of the two.…”

Section: Introductionmentioning

confidence: 99%

The MuMMER Project: Engaging Human-Robot Interaction in Real-World Public Spaces

Foster

Alami

Gestranius³

et al. 2016

Social Robotics

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Abstract. MuMMER (MultiModal Mall Entertainment Robot) is a four-year, EU-funded project with the overall goal of developing a humanoid robot (SoftBank Robotics' Pepper robot being the primary robot platform) with the social intelligence to interact autonomously and naturally in the dynamic environments of a public shopping mall, providing an engaging and entertaining experience to the general public. Using co-design methods, we will work together with stakeholders including customers, retailers, and business managers to develop truly engaging robot behaviours. Crucially, our robot will exhibit behaviour that is socially appropriate and engaging by combining speech-based interaction with non-verbal communication and human-aware navigation. To support this behaviour, we will develop and integrate new methods from audiovisual scene processing, socialsignal processing, high-level action selection, and human-aware robot navigation. Throughout the project, the robot will be regularly deployed in Ideapark, a large public shopping mall in Finland. This position paper describes the MuMMER project: its needs, the objectives, R&D challenges and our approach. It will serve as reference for the robotics community and stakeholders about this ambitious project, demonstrating how a co-design approach can address some of the barriers and help in building follow-up projects.

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Human-aware robot navigation: A survey

Cited by 611 publications

References 82 publications

Human-robot co-navigation using anticipatory indicators of human walking motion

Human-robot co-navigation using anticipatory indicators of human walking motion

Efficient customisable dynamic motion planning for assistive robots in complex human environments

The MuMMER Project: Engaging Human-Robot Interaction in Real-World Public Spaces

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