Planning Robot Navigation among Movable Obstacles (NAMO) through a Recursive Approach

Moghaddam, Shokraneh K.; Masehian, Ellips

doi:10.1007/s10846-016-0344-1

Cited by 13 publications

(11 citation statements)

References 17 publications

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“…Thus, many studies have focused on robot navigation among movable obstacles to solve the above freezing problem [17]. The robot pushes objects such as a table, chair, or sofa and clears a reasonable path, considering planning time, length of the transit and/or transfer paths, number of manipulated objects, and total number of displacements of all objects [18][19][20]. This can be regarded as a movement strategy with object manipulation, but those studies just focus on furniture, not humans as dynamic and psychological agents.…”

Section: Introductionmentioning

confidence: 99%

A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario

Kamezaki

Kobayashi

Yokoyama

et al. 2019

Int J of Soc Robotics

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Human-aware navigation is an essential requirement for autonomous robots in human-coexisting environments. The goal of conventional navigation is to find a path for a robot to pass through safely and efficiently without colliding with human. Note that if such a path cannot be found, the robot stops until a path is clear. Thus, such collision-avoidance based passive navigation does not work in a congested or narrow space. To avoid this freezing problem, the robot should induce humans to make a space for passing by an adequate inducement method, such as body movement, speech, and touch, depending on the situation. A robot that deliberately clears a path with such actions may make humans uncomfortable, so the robot should also utilize inducements to avoid causing negative feelings. In this study, we propose a fundamental framework of interactive navigation with situation-adaptive multimodal inducement. For a preliminary study, we target a passing scenario in a narrow corridor where two humans are standing and adopt a model-based approach focusing on common parameters. The suitable inducement basically varies depending on the largest space through which a robot can pass, distance between the robot and a human, and human behavior such as conversing. We thus develop a situation-adaptive inducement selector on the basis of the relationship between human-robot proximity and allowable inducement strength, considering robot efficiency and human psychology. The proposed interactive navigation system was tested across some contextual scenarios and compared with a fundamental path planner. The experimental results indicated that the proposed system solved freezing problems, provided a safe and efficient trajectory, and improved humans' psychological reaction although the evidence was limited to robot planner and hardware design we used as well as certain scenes, contexts, and participants.

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Section: Introductionmentioning

confidence: 99%

A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario

Kamezaki

Kobayashi

Yokoyama

et al. 2019

Int J of Soc Robotics

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“…World representation NAMO relies on an object-based representation of the world [2,5,6,8,[10][11][12][13][14][16][17][18][19]22,23,[26][27][28][29]31,33] (in opposition to an occupationspace-based one): in order to chose the best obstacle placement, it is necessary to reason about them as separate entities. Final placement selection is what actually tells NAMO apart from the well-known field of Rearrangement Planning [4].…”

Section: Namo: Analysis Of Existing Workmentioning

confidence: 99%

“…NAMO Algorithms rarely seek completeness like [6,8,10,12,28]. None have achieved global optimality, and only Levihn [16,23] can claim a local optimality for a very simplified variant of the problem where a plan can only contain one movable obstacle (see Table 1, 'Comp.'…”

Section: Namo: Analysis Of Existing Workmentioning

confidence: 99%

“…The first, applied by all but [2], is to consider that only one obstacle may be manipulated at once (no cascade effect on nearby movables). The second, also commonly used by all but [2,12,28] (which have never been applied in a real-world situation), is to consider a limited set of contact/grasping points, facilitating backward search for robot pose for manipulation. This semantically makes sense, in particular since some obstacles have specific contact points (eg.…”

Section: Namo: Analysis Of Existing Workmentioning

confidence: 99%

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Towards S-NAMO: Socially-Aware Navigation Among Movable Obstacles

Renault

Saraydaryan

Simonin

2019

Lecture Notes in Computer Science

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In this paper, we present an in-depth analysis of Navigation Among Movable Obstacles (NAMO) literature, notably highlighting that social acceptability remains an unadressed problem in this robotics navigation domain. The objectives of a Socially-Aware NAMO are defined and a first set of algorithmic propositions is built upon existing work. We developed a simulator allowing to test our propositions of social movability evaluation for obstacle selection, and social placement of objects with a semantic map layer. Preliminary pushing tests are done with a Pepper robot, the standard platform for the Robocup@home SSPL 1 , in the context of our participation (LyonTech Team).

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“…Several methods have been proposed for solving the shortest path problem in robot navigation, both for a single or multiple robots and for static or dynamic environments. Visibility graphs have been exploited to identify Euclidean shortest paths among a set of polygonal obstacles in the plane [39]. The method applies a recursive process capable of solving dynamic navigation problems for a single robot.…”

Section: Shortest Path Definition Based On Cellular Structures For Comentioning

confidence: 99%

Cellular Automata Applications in Shortest Path Problem

Tsompanas

Dourvas

Ioannidis

et al. 2018

Emergence, Complexity and Computation

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Cellular Automata (CAs) are computational models that can capture the essential features of systems in which global behavior emerges from the collective effect of simple components, which interact locally. During the last decades, CAs have been extensively used for mimicking several natural processes and systems to find fine solutions in many complex hard to solve computer science and engineering problems. Among them, the shortest path problem is one of the most pronounced and highly studied problems that scientists have been trying to tackle by using a plethora of methodologies and even unconventional approaches. The proposed solutions are mainly justified by their ability to provide a correct solution in a better time complexity than the renowned Dijkstra's algorithm.

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Planning Robot Navigation among Movable Obstacles (NAMO) through a Recursive Approach

Cited by 13 publications

References 17 publications

A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario

A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario

Towards S-NAMO: Socially-Aware Navigation Among Movable Obstacles

Cellular Automata Applications in Shortest Path Problem

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