MengeROS: a Crowd Simulation Tool for Autonomous Robot Navigation

Aroor, Anoop; Epstein, Susan L.; Korpan, Raj

doi:10.48550/arxiv.1801.08823

Cited by 3 publications

(7 citation statements)

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“…4) Finally, for testing AMRs in pedestrian rich environments, some of the traditional pedestrian simulators described in Section IV-C have been extended by the robotics community for further use. MengeROS [17] and Pedsim ros are two such simulators. These have been released as open source ROS packages to test AMRs in pedestrian rich environments.…”

Section: Discussionmentioning

confidence: 99%

“…As part of our review, various simulators were studied while keeping the above requirements in mind. Our survey shows that most traditional simulators are either specialized robot simulators or are specialized pedestrian/crowd simulators [17]. However, there are very few holistic simulators that are suitable for testing mobile social robots.…”

Section: Requirementsmentioning

confidence: 99%

“…1) MengeROS: [17] extends Menge's functionality by integrating Menge [39] with ROS [35] in order to provide a simulation tool for testing mobile robots in pedestrian rich environments. MengeROS is an open source ROS package.…”

Section: Simulators For Combined Robot and Human Modellingmentioning

confidence: 99%

“…While Pedsim ros certainly meets all the key requirements for a pedestrian simulator mentioned in Section III, it is important to note that in order to use this package, the user must create a 3D virtual environment and human models in Gazebo from scratch. A second drawback is that Pedsim ros supports a single mathematical model for pedestrians unlike Menge [39] and MengeROS [17].…”

Section: Simulators For Combined Robot and Human Modellingmentioning

confidence: 99%

“…Some of these pedestrian models have made their way into robotics where they are integrated with the path planning algorithms to help the AMRs execute a path without colliding with humans. Our survey shows that there is a lack of open-source simulators suitable for testing such algorithms [15], [17].…”

Section: Introductionmentioning

confidence: 99%

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Simulators for Mobile Social Robots:State-of-the-Art and Challenges

Kaur¹,

Liu²,

Shi³

2022

Preprint

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The future robots are expected to work in a shared physical space with humans [1], however, the presence of humans leads to a dynamic environment that is challenging for mobile robots to navigate. The path planning algorithms designed to navigate a collision free path in complex human environments are often tested in real environments due to the lack of simulation frameworks. This paper identifies key requirements for an ideal simulator for this task, evaluates existing simulation frameworks and most importantly, it identifies the challenges and limitations of the existing simulation techniques.First and foremost, we recognize that the simulators needed for the purpose of testing mobile robots designed for human environments are unique as they must model realistic pedestrian behavior in addition to the modelling of mobile robots. Our study finds that Pedsim ros [2] and a more recent SocNavBench framework [3] are the only two 3D simulation frameworks that meet most of the key requirements defined in our paper. In summary, we identify the need for developing more simulators that offer an ability to create realistic 3D pedestrian rich virtual environments along with the flexibility of designing complex robots and their sensor models from scratch.

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Section: Discussionmentioning

confidence: 99%

Section: Requirementsmentioning

confidence: 99%

Section: Simulators For Combined Robot and Human Modellingmentioning

confidence: 99%

Section: Simulators For Combined Robot and Human Modellingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Simulators for Mobile Social Robots:State-of-the-Art and Challenges

Kaur¹,

Liu²,

Shi³

2022

Preprint

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An Intelligent Human Avatar to Debug and Challenge Human-aware Robot Navigation Systems

Favier¹,

Singamaneni

Alami³

2022

2022 17th ACM/IEEE International Conference on Human-Robot Interaction (HRI)

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Experimenting, testing, and debugging robot social navigation systems is a challenging task. While simulation is generally well suited for a first level of debugging and evaluation of robotics controllers and planners, the social navigation field lacks satisfactory simulators of humans which act, react and interact rationally and naturally. To facilitate the development of human-aware navigation systems, we propose a system to simulate an autonomous human agent that is both reactive and rational, specifically designed to act and interact with a robot for navigation problems and potential conflicts. Besides, it also provides some metrics to partially evaluate such interactions and data logs for further analysis. We show the limitations of overused reactive-only approaches. Then, thanks to two different human-aware navigation planners, we show how our system can help answer the lack of intelligent human avatars for tuning and debugging social navigation systems before their final evaluation with real humans.

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Core Challenges of Social Robot Navigation: A Survey

Mavrogiannis¹,

Baldini²,

Wang³

et al. 2021

Preprint

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Robot navigation in crowded public spaces is a complex task that requires addressing a variety of engineering and human factors challenges. These challenges have motivated a great amount of research resulting in important developments for the fields of robotics and human-robot interaction over the past three decades. Despite the significant progress and the massive recent interest, we observe a number of significant remaining challenges that prohibit the seamless deployment of autonomous robots in public pedestrian environments. In this survey article, we organize existing challenges into a set of categories related to broader open problems in motion planning, behavior design, and evaluation methodologies. Within these categories, we review past work, and offer directions for future research. Our work builds upon and extends earlier survey efforts by a) taking a critical perspective and diagnosing fundamental limitations of adopted practices in the field and b) offering constructive feedback and ideas that we aspire will drive research in the field over the coming decade.

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MengeROS: a Crowd Simulation Tool for Autonomous Robot Navigation

Cited by 3 publications

References 0 publications

Simulators for Mobile Social Robots:State-of-the-Art and Challenges

Simulators for Mobile Social Robots:State-of-the-Art and Challenges

An Intelligent Human Avatar to Debug and Challenge Human-aware Robot Navigation Systems

Core Challenges of Social Robot Navigation: A Survey

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