From Perception to Navigation in Environments with Persons: An Indoor Evaluation of the State of the Art

Sánchez, Carlos; Ceriotti, Matteo; Capitán, Jesús; Marrón, Pedro José

doi:10.3390/s22031191

Cited by 9 publications

(2 citation statements)

References 135 publications

(100 reference statements)

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“…Zhu and Zhang [18] discussed Deep Reinforcement Learning (DRL) and related frameworks for analyzing robot navigation regarding typical application scenarios, i.e., local obstacle avoidance, indoor navigation, multirobot navigation, and social navigation. In turn, Medina Sánchez et al [19] explored the different aspects of indoor social navigation based on their experience with perception, mapping, human trajectory prediction, and plan-ning. Besides describing the state-of-the-art approaches, they experimented with existing methods and investigated their performance in practice.…”

Section: Related Workmentioning

confidence: 99%

Bridging Requirements, Planning, and Evaluation: A Review of Social Robot Navigation

Karwowski,

Szynkiewicz,

Niewiadomska-Szynkiewicz

2024

Sensors

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Navigation lies at the core of social robotics, enabling robots to navigate and interact seamlessly in human environments. The primary focus of human-aware robot navigation is minimizing discomfort among surrounding humans. Our review explores user studies, examining factors that cause human discomfort, to perform the grounding of social robot navigation requirements and to form a taxonomy of elementary necessities that should be implemented by comprehensive algorithms. This survey also discusses human-aware navigation from an algorithmic perspective, reviewing the perception and motion planning methods integral to social navigation. Additionally, the review investigates different types of studies and tools facilitating the evaluation of social robot navigation approaches, namely datasets, simulators, and benchmarks. Our survey also identifies the main challenges of human-aware navigation, highlighting the essential future work perspectives. This work stands out from other review papers, as it not only investigates the variety of methods for implementing human awareness in robot control systems but also classifies the approaches according to the grounded requirements regarded in their objectives.

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Section: Related Workmentioning

confidence: 99%

Bridging Requirements, Planning, and Evaluation: A Review of Social Robot Navigation

Karwowski,

Szynkiewicz,

Niewiadomska-Szynkiewicz

2024

Sensors

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show abstract

“…The LiDAR costs between 5348 USD and 103,904 USD, according to the S. Bi et al [20] study, depending on the configuration range. C. Medina Sánchez et al [21] reviewed the camera cost range from 149 USD to 449 USD, which may be used for RGB and RGB-D purposes in autonomous mobile robots. A.…”

Section: Related Workmentioning

confidence: 99%

Curve-Aware Model Predictive Control (C-MPC) Trajectory Tracking for Automated Guided Vehicle (AGV) over On-Road, In-Door, and Agricultural-Land

et al. 2022

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Navigating the AGV over the curve path is a difficult problem in all types of navigation (landmark, behavior, vision, and GPS). A single path tracking algorithm is required to navigate the AGV in a mixed environment that includes indoor, on-road, and agricultural terrain. In this paper, two types of proposed methods are presented. First, the curvature information from the generated trajectory (path) data is extracted. Second, the improved curve-aware MPC (C-MPC) algorithm navigates AGV in a mixed environment. The results of the real-time experiments demonstrated that the proposed curve finding algorithm successfully extracted curves from all types of terrain (indoor, on-road, and agricultural-land) path data with low type 1 (percentage of the unidentified curve) and type 2 (extra waypoints added to identified curve) errors, and eliminated path noise (hand-drawn line error over map). The AGV was navigated using C-MPC, and the real-time and simulation results reveal that the proposed path tracking technique for the mixed environment (indoor, on-road, agricultural-land, and agricultural-land with slippery error) successfully navigated the AGV and had a lower RMSE lateral and longitudinal error than the existing path tracking algorithm.

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Overview of Terrain Traversability Evaluation for Autonomous Robots

Shu,

Dong,

Liu

et al. 2024

Journal of Field Robotics

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Traversability evaluation is the foundation and core of unmanned platforms for scene understanding and autonomous navigation, whose successful completion relies on the analysis of the platform's characteristics and the semantic and geometric features of the surrounding environment. This topic has been reviewed by many literatures, which are characterized by a single perspective and lack comprehensive evaluation frameworks. Thus, the concept and developmental trajectory of traversability evaluation are initially outlined in this paper, distinguishing it from other issues, while constructing an evaluation framework based on two categories: direct assessment and downstream task assessment. Subsequently, traversability evaluation methods are classified based on multiple dimensions, including sensor types, robot types, usage scenarios, and learning approaches. On the basis of the constructed evaluation framework, comparisons are made among existing algorithms in terms of performance and runtime. Subsequently, a summary is provided on commonly used features and their mainstream computation methods in terrain evaluation. Additionally, open‐source data sets in this field and projects for scene construction and algorithm validation are compiled and organized. Finally, an analysis is conducted on the development direction and trends, emphasizing the urgent need to establish standardized evaluation systems and comparison baselines. Furthermore, it is imperative that various environmental and platform information be comprehensively integrated into algorithms, while also ensuring that simulation, demonstration, and exploration are incorporated into a unified framework to enhance the robot's learning capability.

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From Perception to Navigation in Environments with Persons: An Indoor Evaluation of the State of the Art

Cited by 9 publications

References 135 publications

Bridging Requirements, Planning, and Evaluation: A Review of Social Robot Navigation

Bridging Requirements, Planning, and Evaluation: A Review of Social Robot Navigation

Curve-Aware Model Predictive Control (C-MPC) Trajectory Tracking for Automated Guided Vehicle (AGV) over On-Road, In-Door, and Agricultural-Land

Overview of Terrain Traversability Evaluation for Autonomous Robots

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