Impact of decision-making system in social navigation
Fecha
2021
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Springer
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Resumen
Facing human activity-aware navigation with a cognitive architecture raises several difficulties integrating the components and orchestrating behaviors and skills to perform social
tasks. In a real-world scenario, the navigation system should not only consider individuals like obstacles. It is necessary to offer particular and dynamic people representation to
enhance the HRI experience. The robot’s behaviors must be modified by humans, directly
or indirectly. In this paper, we integrate our human representation framework in a cognitive architecture to allow that people who interact with the robot could modify its behavior,
not only with the interaction but also with their culture or the social context. The human
representation framework represents and distributes the proxemic zones’ information in a
standard way, through a cost map. We have evaluated the influence of the decision-making
system in human-aware navigation and how a local planner may be decisive in this navigation. The material developed during this research can be found in a public repository (https://
github.com/IntelligentRoboticsLabs/social navigation2 WAF) and instructions to facilitate
the reproducibility of the results.
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Ginés Clavero, J., Martín Rico, F., Rodríguez-Lera, F.J. et al. Impact of decision-making system in social navigation. Multimed Tools Appl 81, 3459–3481 (2022). https://doi.org/10.1007/s11042-021-11454-2
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