Context-aware Social Robot Navigation

Frederik Haarslev, William Juel, Avgi Kollakidou, Norbert Krüger, Leon Bodenhagen

2021

Abstract

With the emergence of robots being deployed in unstructured environments outside the industrial domain, the importance of robots behaving appropriately in the vicinity of people is becoming more clear. These behaviours are hard to model as they depend on the social context. This context includes among other things where the robot is deployed, how crowded that place is, as well as who are residing in that place. In this paper we extend social space theory with the social context, making them adaptable to the current situation. We implement the social spaces as costmaps used in the standard ROS navigation stack. Our method – Context-Aware Social robot Navigation (CASN) – is tested in the context of people avoidance in social navigation. We compare CASN with the social navigation layer package, which also implements costs based on detected people. We show that by using CASN a mobile robot complies with social conventions in four different navigation scenarios.

Paper Citation

in Harvard Style

Haarslev F., Juel W., Kollakidou A., Krüger N. and Bodenhagen L. (2021). Context-aware Social Robot Navigation. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 426-433. DOI: 10.5220/0010554204260433

in Bibtex Style

@conference{icinco21,
author={Frederik Haarslev and William Juel and Avgi Kollakidou and Norbert Krüger and Leon Bodenhagen},
title={Context-aware Social Robot Navigation},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={426-433},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010554204260433},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Context-aware Social Robot Navigation
SN - 978-989-758-522-7
AU - Haarslev F.
AU - Juel W.
AU - Kollakidou A.
AU - Krüger N.
AU - Bodenhagen L.
PY - 2021
SP - 426
EP - 433
DO - 10.5220/0010554204260433