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We present CoMet, a novel approach for computing a groups cohesion and using that to improve a robots navigation in crowded scenes. Our approach uses a novel cohesion-metric that builds on prior work in social psychology. We compute this metric by utilizing various visual features of pedestrians from an RGB-D camera on-board a robot. Specifically, we detect characteristics corresponding to proximity between people, their relative walking speeds, the group size, and interactions between group members. We use our cohesion-metric to design and improve a navigation scheme that accounts for different levels of group cohesion while a robot moves through a crowd. We evaluate the precision and recall of our cohesion-metric based on perceptual evaluations. We highlight the performance of our social navigation algorithm on a Turtlebot robot and demonstrate its benefits in terms of multiple metrics: freezing rate (57% decrease), deviation (35.7% decrease), and path length of the trajectory(23.2% decrease).
In this paper, we present the Role Playing Learning (RPL) scheme for a mobile robot to navigate socially with its human companion in populated environments. Neural networks (NN) are constructed to parameterize a stochastic policy that directly maps s
Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy is traine
We focus on the problem of planning the motion of a robot in a dynamic multiagent environment such as a pedestrian scene. Enabling the robot to navigate safely and in a socially compliant fashion in such scenes requires a representation that accounts
Mobile robots have become more and more popular in our daily life. In large-scale and crowded environments, how to navigate safely with localization precision is a critical problem. To solve this problem, we proposed a curiosity-based framework that
In this paper, we propose a novel navigation system for mobile robots in pedestrian-rich sidewalk environments. Sidewalks are unique in that the pedestrian-shared space has characteristics of both roads and indoor spaces. Like vehicles on roads, pede