A Human-Robot Cooperative Navigation Planner

Harmish Khambhaita 1 Rachid Alami 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : Navigation in human environments is a cooperative task and needs to be treated as it is. Humans concurrently assist and comply with each other. To achieve comparable efficiency, a robot needs to predict human trajectories and plan its own trajectory accordingly. We present a navigation planner that is able to plan such cooperative trajectories simultaneously respecting the robot's kinematic constraints and avoiding other non-human dynamic obstacles. Besides adapting the robot trajectory, the planner is also able to proactively propose co-navigation solutions especially in confined spaces.
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Harmish Khambhaita, Rachid Alami. A Human-Robot Cooperative Navigation Planner. 12th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Mar 2017, Vienne, Austria. pp.161-162, ⟨10.1145/3029798.3038374⟩. ⟨hal-01568840⟩

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