Efficient and Trustworthy Social Navigation via Explicit and Implicit Robot–Human Communication

Abstract

In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation in a manner that humans find understandable and trustworthy. First, we developed a model that approximates both continuous movements and discrete decisions in human navigation, considering the effects of implicit and explicit communication on human decision making. The model approximates the human as an optimal agent, with a reward function obtained through inverse reinforcement learning. Second, a planner uses this model to generate communicative actions that maximize the robot's transparency and efficiency. We implemented the planner on a mobile robot, using a wearable haptic device for explicit communication. In a user study of navigation in an indoor environment, the robot was able to actively communicate its intent to users in order to avoid collisions and facilitate efficient trajectories. Results showed that the planner generated plans that were easier to understand, reduced users' effort, and increased users trust of the robot, compared to simply performing collision avoidance.

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

“…Implementing human aware navigation algorithmsincluding social norms and proxemics rules-as well as endowing robots with transparency interfaces for disclosing robot actions (current and future)-can contribute to reducing the hazards inherent to deployment in public spaces. Examples of implementation can be found in [120,121].…”

“…However, although safe and endowed with a socially "aware" navigation (e.g. social norms and proxemics rules implemented in the robot behaviour) [49], collision avoidance algorithms are not the most efficient solution from a functional standpoint, especially for robots operating in crowded spaces. Indeed, in an environment jammed with people, the robot could find itself always stuck (i.e.…”

On the Safety of Mobile Robots Serving in Public Spaces

“…These interfaces can be used to convey implicit (robot motion) and explicit (voice output) messages. A haptic interface has been tested and developed for implementing transparency during pedestrian-robot interactions [Che Okamura Sadigh 2020]. The system communicates a mobile robot's intentions through implicit and explicit signals to a pedestrian.…”

Farklı Nesnelere Göre Navigasyon Yolunun Revizyonu

“…They offered a proactive social model for robot navigation and tested their algorithms both in simulation and real-time environments. Che et al [7] combined haptic technology with robot movements in order to develop robot-human communication. It is possible to avoid potential collisions with their compound approach.…”

“…In addition, the use of mobile robot technology is still in its infancy. It is obvious that as mobile robots and their features develop, they will find more applications in our daily lives [6][7]. The use of robots of this type traditionally requires more care than robots that are fixed to a point and make certain movements.…”