Time dependent planning on a layered social cost map for human-aware robot navigation

@article{Kollmitz2015TimeDP,
  title={Time dependent planning on a layered social cost map for human-aware robot navigation},
  author={Marina Kollmitz and Kaijen Hsiao and Johannes Gaa and Wolfram Burgard},
  journal={2015 European Conference on Mobile Robots (ECMR)},
  year={2015},
  pages={1-6}
}
As robots make their way into our everyday lives, new behavioral concepts are needed to assure their acceptance as interaction partners. In the presence of humans, robots are required to take safety as well as human comfort into account. This paper presents a novel, planning-based approach for social robot navigation. It uses predicted human trajectories and a social cost function to plan collision-free paths that take human comfort into account. It furthermore employs time dependent… CONTINUE READING