dc.creator | Medina Sánchez, Carlos | es |
dc.creator | Janzon, Simon | es |
dc.creator | Zella, Matteo | es |
dc.creator | Capitán Fernández, Jesús | es |
dc.creator | Marrón, P. J. | es |
dc.date.accessioned | 2024-02-14T10:07:22Z | |
dc.date.available | 2024-02-14T10:07:22Z | |
dc.date.issued | 2023-12 | |
dc.identifier.citation | Medina Sánchez, C., Janzon, S., Zella, M., Capitán Fernández, J. y Marrón, P.J. (2023). Human-Aware Navigation in Crowded Environments Using Adaptive Proxemic Area and Group Detection. En IEEE International Conference on Intelligent Robots and Systems (6741-6748), Detroit, MI, USA: Institute of Electrical and Electronics Engineers. | |
dc.identifier.isbn | 978-1-6654-9190-7 | es |
dc.identifier.isbn | 978-1-6654-9191-4 | es |
dc.identifier.issn | 2153-0866 | es |
dc.identifier.issn | 2153-0858 | es |
dc.identifier.uri | https://hdl.handle.net/11441/155219 | |
dc.description.abstract | Navigation is an essential task for social robots.
However, certain rules must be followed to allow them to
move without causing distraction or discomfort to people.
Considering that the context surrounding robots and persons
affects the expected behavior, this work defines a social area
around a person that adapts to the real situation. In addition,
the social context of a person is extended to identify groups
of people, which the robot should take into account while
navigating. With this understanding of the surrounding of
the robot together with the ability to predict the trajectory
of individuals as well as groups, the proposed solution not
only effectively addresses collision avoidance while promoting
socially acceptable behavior but also outperforms the majority
of recent works in terms of accuracy. Furthermore, a dedicated
policy is introduced to react to social navigation conflicts.
The evaluation performed in a simulated environment shows
that the computation of our proposed solution is at least
8 times faster than the best state-of-the-art approach while
preserving comparable social conduct. Also, the results of
realistic experiments performed using Gazebo and a real robot
are reported. | es |
dc.format | application/pdf | es |
dc.format.extent | 8 p. | es |
dc.language.iso | eng | es |
dc.publisher | Institute of Electrical and Electronics Engineers | es |
dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems (2023), pp. 6741-6748. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Costs | es |
dc.subject | Navigation | es |
dc.subject | Social robots | es |
dc.subject | Trajectory | es |
dc.subject | Behavioral sciences | es |
dc.subject | Resource management | es |
dc.subject | Collision avoidance | es |
dc.title | Human-Aware Navigation in Crowded Environments Using Adaptive Proxemic Area and Group Detection | es |
dc.type | info:eu-repo/semantics/conferenceObject | es |
dc.type.version | info:eu-repo/semantics/acceptedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.publisherversion | https://ieeexplore.ieee.org/document/10342385 | es |
dc.identifier.doi | 10.1109/IROS55552.2023.10342385 | es |
dc.contributor.group | Universidad de Sevilla. TEP995: Multi-robot and Control Systems | es |
idus.validador.nota | Postprint. Acepted version | es |
dc.publication.initialPage | 6741 | es |
dc.publication.endPage | 6748 | es |
dc.eventtitle | IEEE International Conference on Intelligent Robots and Systems | es |
dc.eventinstitution | Detroit, MI, USA | es |