Social-aware robot navigation in urban environments

Gonzalo Ferrer, Anais Garrell, Alberto Sanfeliu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

44 Citations (Scopus)

Abstract

In this paper we present a novel robot navigation approach based on the so-called Social Force Model (SFM). First, we construct a graph map with a set of destinations that completely describe the navigation environment. Second, we propose a robot navigation algorithm, called social-aware navigation, which is mainly driven by the social-forces centered at the robot. Third, we use a MCMC Metropolis-Hastings algorithm in order to learn the parameters values of the method. Finally, the validation of the model is accomplished throughout an extensive set of simulations and real-life experiments.

Original languageEnglish
Title of host publication2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings
PublisherIEEE Computer Society
Pages331-336
Number of pages6
ISBN (Print)9781479902637
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2013 6th European Conference on Mobile Robots, ECMR 2013 - Barcelona, Spain
Duration: 25 Sep 201327 Sep 2013

Publication series

Name2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings

Conference

Conference2013 6th European Conference on Mobile Robots, ECMR 2013
Country/TerritorySpain
CityBarcelona
Period25/09/1327/09/13

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