http://opendata.unex.es/recurso/ciencia-tecnologia/investigacion/publicaciones/Publicacion/2021-106

Literals

  • ou:urlScopus
  • ou:eid
    • 2-s2.0-85097381428
  • ou:bibtex
    • @inproceedings{259fd0e33c8c4201aa2f5a9115a54fc0, title = 'Graph Neural Networks for Human-aware Social Navigation', abstract = 'Autonomous navigation is a key skill for assistive and service robots. To be successful, robots have to comply with social rules, such as avoiding the personal spaces of the people surrounding them, or not getting in the way of human-to-human and human-to-object interactions. This paper suggests using Graph Neural Networks to model how inconvenient the presence of a robot would be in a particular scenario according to learned human conventions so that it can be used by path planning algorithms. To do so, we propose two automated scenario-to-graph transformations and benchmark them with different Graph Neural Networks using the SocNav1 dataset. We achieve close-to-human performance in the dataset and argue that, in addition to its promising results, the main advantage of the approach is its scalability in terms of the number of social factors that can be considered and easily embedded in code in comparison with model-based approaches. The code used to train and test the resulting graph neural network is available in a public repository.', keywords = 'Graph Neural Networks, Human-robot interaction, Social navigation', author = 'Manso, {Luis J.} and Jorvekar, {Ronit R.} and Diego Faria and Pablo Bustos and Pilar Bachiller', note = '{\textcopyright} 2020 The Authors; 21st International Workshop of Physical Agents (WAF2020) ; Conference date: 19-11-2020 Through 20-11-2020', year = '2020', month = nov, day = '3', doi = '10.1007/978-3-030-62579-5_12', language = 'English', isbn = '978-3-030-62578-8', series = 'Advances in Intelligent Systems and Computing', publisher = 'Springer', pages = '167--179', editor = 'Bergasa, {Luis M.} and Manuel Oca{\~n}a and Rafael Barea and Elena L{\'o}pez-Guill{\'e}n and Pedro Revenga', booktitle = 'Advances in Physical Agents II - Proceedings of the 21st International Workshop of Physical Agents WAF 2020', address = 'Germany', }
  • dcterms:creator
    • Manso L.J.
  • dcterms:contributor
    • Manso L.J., Jorvekar R.R., Faria D.R., Bustos P., Bachiller P.
  • bibo:doi
    • 10.1007/978-3-030-62579-5_12
  • fabio:hasPublicationYear
    • 2021
  • vivo:identifier
    • 2021-106
  • bibo:eissn
    • 2194-5365
  • bibo:isbn
    • 9783030625788
  • bibo:issn
    • 2194-5357
  • bibo:page_range
    • 167-179
  • dcterms:publisher
    • Advances in Intelligent Systems and Computing
  • ou:tipoPublicacion
    • Conference Paper
  • dcterms:title
    • Graph Neural Networks for Human-Aware Social Navigation
  • vcard:url
  • ou:urlOrcid
  • ou:vecesCitado
    • 4
  • bibo:volume
    • 1285

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