Waypoint based path planner for socially aware robot navigation

Kivrak, Hasan; Çakmak, Furkan; Köse, Hatice; Yavuz, Sırma

doi:10.1007/s10586-021-03479-x

Cited by 9 publications

(7 citation statements)

References 15 publications

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“…For known environments where the terrain and • Advanced driving assistant system (ADAS) + neuroscience for enhanced vehicle control [59] • Path planning application in unknown and complex environments [2] • Autonomous driving applications [21], [33], [37], [60]- [66] • Intelligent Transportation Systems (ITS) [67] • Gesture recognition for human-vehicle interaction [68] • All-terrain vehicle (ATV) with autonomous navigation and teleoperation [69] • Robust localisation of Autonomous Cars [70] • Socially aware robot navigation [34], [71], [72]…”

Section: W H Eel Ed M Obi L E Robotmentioning

confidence: 99%

“…• Lawn mowing in irregular environments. [131] obstacles are static, deterministic algorithms such as Dijkstra's algorithm [119], [120], [151] and A* [71], [156]- [158] are often employed. Their reliability and predictability make them suitable for tasks where deviations from a set path can be costly.…”

Section: Householdmentioning

confidence: 99%

“…Evolutionary algorithm [5], [33], [35], Hierarchical-DDPG [155], A* algorithm [71], [127], [156]- [158], ARA* 25 [84], Theta* + DWA 26 [89], G-RRT* 27 [83] 3 -Collision Avoidance DRL 28 [99], RRT [144], Fuzzy inference [13], [98], DWA [76], [159], [160], Particle Filter [161],…”

Section: Householdmentioning

confidence: 99%

See 2 more Smart Citations

Emerging Trends in Realistic Robotic Simulations: A Comprehensive Systematic Literature Review

Kargar,

Yordanov,

Harvey

et al. 2024

IEEE Access

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Simulation plays a pivotal role in providing safely reproducible scenarios to evaluate the ever-advancing domain of computer science and robotics. It was an essential part of the pandemic when no access to physical spaces was available. The advent of AI-powered platforms in conjunction with enhanced graphics, physics and other sensory engines attracts a new breed of interdisciplinary researchers to enter the robotic field, most notably from computer science, engineering and social sciences. Integration of ROS as a uniform middleware to deploy achieved outcomes in real practice provides an opportunity to move one step closer to the sim-to-real experiences that enables researchers to test ideas beyond the close laboratory spaces. There is a lack of comprehensive evaluation of ROS-enabled simulators, and the integration of advanced AI techniques for realistic scenario replication. This paper addresses this challenge by evaluating ROSenabled simulators in the design and implementation of AI techniques through an in-depth systematic literature review (SLR). This SLR is guided by the research and commercial market demands, employing Population, Intervention, Comparison, Outcome, and Context (PICOC) and Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) frameworks with a major focus on Wheeled Mobile Robots (WMRs). We also highlight the increasing importance of game engines like Unity and Unreal in future of robotic simulations, especially under modelling close to real experiences. By comparing simulation platform features and capabilities, this paper offers guidance to developers and researchers, enabling them to select the most suitable platform for their projects efficiently that contradicts the commonly in use "one size fits all" approach. Finally, based on the thorough insights from the review, we identify and suggest some key future research directions in AI-enhanced realistic robotic simulations.

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Section: W H Eel Ed M Obi L E Robotmentioning

confidence: 99%

Section: Householdmentioning

confidence: 99%

See 1 more Smart Citation

Emerging Trends in Realistic Robotic Simulations: A Comprehensive Systematic Literature Review

Kargar,

Yordanov,

Harvey

et al. 2024

IEEE Access

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“…non-social obstacles and people) and attractive forces to desired elements (e.g. goal destination) [23]. SFM is widely used because it can be extended to different scenarios by adding forces that enable additional robot behaviors (e.g.…”

Section: Related Workmentioning

confidence: 99%

Online Social Robot Navigation in Indoor, Large and Crowded Environments

Silva,

Verdezoto,

Paillacho

et al. 2023

2023 IEEE International Conference on Robotics and Automation (ICRA)

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New robotics applications require robots to complete tasks in social spaces (i.e. environments shared with people), thus arising the necessity of enabling robots to operate in a socially acceptable manner. Some social spaces tend to be large and crowded (e.g. museums, shopping malls), which require robots to move around while showing appropriate social behaviors (e.g. not interfering with human's comfortable areas). Moving under such conditions is generally called social robot navigation, and there are different approaches to do so. Nonetheless, current approaches are mostly limited to navigate large and outdoor spaces, where both robots and people can easily avoid each other. Other approaches have been tested in indoor environments, however, the test environments tend to be small and largely empty. In this paper, we present an online social robot navigation framework, which allow robots to navigate indoor, large and crowded environments, while showing social behaviors. Our framework consists of 3 modules: 1) world modeling that incorporates a novel Social Heatmap (SH) to represent crowded areas, 2) multilayered path planning that uses sampling-based approaches, and 3) path following control. We extensively benchmark our approach against stateof-the-art approaches in challenging simulated scenarios, and we also demonstrate its feasibility with the Pepper robot in real-world trials.

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“…The SFM seeks to express the social human navigation behavior as a resultant force, which is calculated as the sum of repulsive and attractive forces. While objects and pedestrians exert repulsive forces depending on factors such as proxemics and gaze direction, a desired destination exerts an attractive force [9]. Each of the forces is dependent on a scalar factor (also known as force factor) that controls the force magnitude.…”

Section: Introductionmentioning

confidence: 99%

Towards Online Socially Acceptable Robot Navigation

Silva

Paillacho

Verdezoto

et al. 2022

2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)

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When robots move through social spaces (i.e., environments shared with people) such as museums and shopping centers, they must navigate in a safe and socially acceptable manner to facilitate their inclusion and adoption. Therefore, robots operating in such settings must be able not only to avoid colliding with nearby obstacles, but also to show socially accepted behaviors, e.g., by minimizing the disruption in the comfort zone of nearby people. While there are well known approaches for social robot navigation, they are mostly based on social force models, which suffer from local minima. Meanwhile, other robot navigation frameworks do not consider social aspects. In this paper, we present an online social robot navigation framework, which is capable of generating collision free and socially acceptable paths online in uncontrolled crowded environments. Our proposed framework employs a modified sampling-based planner together with a new social relevance validity checking strategy. To evaluate our approach, we have designed a simulated social space in which the Pepper robot can safely navigate in a socially accepted manner. We compare our approach with other two alternative solutions while measuring specific social navigation metrics.

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Waypoint based path planner for socially aware robot navigation

Cited by 9 publications

References 15 publications

Emerging Trends in Realistic Robotic Simulations: A Comprehensive Systematic Literature Review

Emerging Trends in Realistic Robotic Simulations: A Comprehensive Systematic Literature Review

Online Social Robot Navigation in Indoor, Large and Crowded Environments

Towards Online Socially Acceptable Robot Navigation

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