论文标题
当心！可能有一个人。解决社会导航中无形的人
Watch out! There may be a Human. Addressing Invisible Humans in Social Navigation
论文作者
论文摘要
当前的人类意识或社会机器人导航方法解决了机器人可见的人类。但是，要解决人类可能出现的出现，以避免对人类的冲击或惊喜以及机器人计划者的不稳定行为。在本文中，我们提出了一种新颖的方法来检测和解决这些人类的出现，称为“无形人类”。我们确定人类目前无法看到机器人可以突然出现的地方，然后通过预期潜在的碰撞来调整机器人的路径和速度。这是在仍在考虑和适应机器人视野中存在的人类的同时完成的。我们还展示了如何利用该检测来识别和解决门口或狭窄的通道。最后，通过几个模拟和现实世界实验显示了所提出方法的有效性。
Current approaches in human-aware or social robot navigation address the humans that are visible to the robot. However, it is also important to address the possible emergences of humans to avoid shocks or surprises to humans and erratic behavior of the robot planner. In this paper, we propose a novel approach to detect and address these human emergences called `invisible humans'. We determine the places from which a human, currently not visible to the robot, can appear suddenly and then adapt the path and speed of the robot with the anticipation of potential collisions. This is done while still considering and adapting humans present in the robot's field of view. We also show how this detection can be exploited to identify and address the doorways or narrow passages. Finally, the effectiveness of the proposed methodology is shown through several simulated and real-world experiments.
