Abstract
Navigation is one of the crucial skills autonomous robots need to perform daily tasks, and many of the rest depend on it. In this paper, we argue that this dependence goes both ways in advanced social autonomous robots. Manipulation, perception, and most importantly human-robot interaction are some of the skills in which navigation might rely on. This paper is focused on the dependence on human-robot interaction and uses two particular scenarios of growing complexity as an example: asking for collaboration to enter a room and asking for permission to navigate between two people which are talking. In the first scenario, the person physically blocks the path to the adjacent room, so it would be impossible for the robot to navigate to such room. Even though in the second scenario the people talking do not block the path to the other room, from a social point of view, interrupting an ongoing conversation without noticing is undesirable. In this paper we propose a navigation planning domain and a set of software agents which allow the robot to navigate in crowded environments in a socially acceptable way, asking for cooperation or permission when necessary. The paper provides quantitative experimental results including social navigation metrics and the results of a Likert-scale satisfaction questionnaire.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsNotes
- 1.
A video of the experiments is located on goo.gl/KdGYBN.
References
Heerink, M., Vanderborght, B., Broekens, J., et al.: Int. J. Soc. Robot. 8, 443 (2016). https://doi.org/10.1007/s12369-016-0374-7
Núnez, P., Manso, L.J., Bustos, P., Drews-Jr, P., Macharet, D.G.: A proposal for the design of a semantic social path planner using CORTEX. In: Workshops on Physical Agent, pp. 31–37 (2016)
Vega, A., Manso, L.J., Macharet, D.G., Bustos, P., Núñez, P.: A new strategy based on an adaptive spatial density function for social robot navigation in human-populated environments. In: Proceedings of REACTS workshop at the International Conference on Computer Analysis and Patterns (2017)
Vega, A., Manso, L.J., Bustos, P., Núñez, P., Macharet, D.G.: Socially acceptable robot navigation over groups of people. In: IEEE Conference on Robot and Human Interactive Communication, RO-MAN2017 (2017)
Charalampous, K., Kostavelis, I., Gasteratos, A.: Robot navigation in large-scale social maps: an action recognition approach. Expert Syst. Appl. 66, 261–273 (2016)
Thrun, S., Gutmann, J.S., Fox, D.: Integrating topological and metric maps for mobile robot navigation: a statistical approach. In: AAAI/IAAI, pp. 989–995 (1998)
Kruse, T., Pandey, A.K., Alami, R., Kirsch, A.: Human-aware robot navigation: a survey. Robot. Auton. Syst. 61(12), 1726–1743 (2013)
Kostavelis, I.: Robot behavioral mapping: a representation that consolidates the human-robot coexistence. Robot. Autom. Eng. 1, 1–3 (2017)
Rios-Martinez, J., Spalanzani, A., Laugier, C.: From proxemics theory to socially-aware navigation: a survey. Int. J. Soc. Robot. 7(2), 137–153 (2015)
Charalampous, K., Kostavelis, I., Gasteratos, A.: Recent trends in social aware robot navigation: a survey. Robot. Auton. Syst. 93, 85–104 (2017)
Mumm, J., Mutlu, B.: Human-robot proxemics: physical and psychological distancing in human-robot interaction. In: Proceedings of the 6th International Conference on Human-robot Interaction, pp. 331–338 (2011)
Walters, M.L., Oskoei, M.A., Syrdal, D.S., Dautenhahn, K.: A long-term human-robot proxemic study. In: 2011 IEEE on RO-MAN, pp. 137 –142 (2011)
Khambhaita, H., Alami, R.: Assessing the social criteria for human-robot collaborative navigation: a comparison of human-aware navigation planners. In: 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. 1140–1145 (2017)
Unhelkar, V., Pérez-D’Arpino, C., Stirling, L., Shah, J.A.: Human-robot co-navigation using anticipatory indicators of human walking motion. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 6183–6190 (2015)
Broz, F.: Planning for human-robot interaction: representing time and human intention. Robotics Institute. Carnegie Mellon University (2008)
Esteves, C., Arechavaleta, G., Laumond, J.-P.: Motion planning for human-robot interaction in manipulation tasks. In: IEEE International Conference on Mechatronics and Automation, vol. 4, pp. 1766–1771 (2005)
Calderita, L.V.: Deep state representation: a unified internal representation for the robotics cognitive architecture CORTEX. University of Extremadura (2015)
Beetz, M., Jain, D., Mösenlechner, L., Tenorth, M.: Towards performing everyday manipulation activities. J. Robot. Auton. Syst. 58(9), 1085–1095 (2010)
Manso, L.J., Bustos, P., Bachiller, P., Núñez, P.: A perception-aware architecture for autonomous robots. Int. J. Adv. Robot. Syst. 12, 174 (2015). https://doi.org/10.5772/61742. ISSN: 1729-8806, InTech
McDermott, D., Ghallab, M., Howe, A., Knoblock, C., Ram, A., Veloso, M., Weld, D., Wilkins, D.: PDDL-the planning domain definition language (1998)
Haut, M., Manso, L.J., Gallego, D., Paoletti, M., Bustos, P., Bandera, A., Romero-Garces, A.: A navigation agent for mobile manipulators. In: Robot 2015: Second Iberian Robotics Conference, Advances in Intelligent Systems and Computing, vol. 418, pp. 745–756 (2015)
Hall, E.: Proxemics. Curr. Anthropol. 9(2–3), 83–108 (1968)
Okal, B., Arras, K.O.: Learning socially normative robot navigation behaviors with Bayesian inverse reinforcement learning. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 2889–2895 (2016)
Acknowledgments
This work has been partially supported by the MICINN Project TIN2015-65686-C5-5-R, by the Extremaduran Goverment project GR15120, by the Red de Excelencia “Red de Agentes Físicos” TIN2015-71693-REDT, and by the FEDER project 0043-EUROAGE-4-E (Interreg V-A Portugal-Spain - POCTEP).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Vega, A., Manso, L.J., Cintas, R., Núñez, P. (2019). Planning Human-Robot Interaction for Social Navigation in Crowded Environments. In: Fuentetaja Pizán, R., García Olaya, Á., Sesmero Lorente, M., Iglesias Martínez, J., Ledezma Espino, A. (eds) Advances in Physical Agents. WAF 2018. Advances in Intelligent Systems and Computing, vol 855. Springer, Cham. https://doi.org/10.1007/978-3-319-99885-5_14
Download citation
DOI: https://doi.org/10.1007/978-3-319-99885-5_14
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-99884-8
Online ISBN: 978-3-319-99885-5
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)