PUBLICACIÓN
Socially-Accepted Path Planning for Robot Navigation Based on Social Interaction Spaces
ACCEDER A LA PUBLICACIÓN:
Vega A., Cintas R., Manso L.J., Bustos P., Nunez P.
CITAS
11
DOI
10.1007/978-3-030-36150-1_53
EID
2-s2.0-85079093798
ISSN
2194-5357
EISSN
2194-5365
ISBN
9783030361495
BIBTEX
@inproceedings{ae865bec51fc435bb7c87a72d383dc0c, title = 'Socially-accepted Path Planning for Robot Navigation based on Social Interaction Spaces', abstract = 'Path planning is one of the most widely studied problems in robot navigation.It deals with estimating an optimal set of waypoints from an initial to a target coordinate. New generations of assistive robots should be able to compute these paths considering not only obstacles but also social conventions. This ability is commonly referred to as social navigation. This paper describes a new socially-acceptable path-planning framework where robots avoid entering areas corresponding to the personal spaces of people, but most importantly, areas related to human-human and human-object interaction. To estimate the social cost of invading personal spaces we use the concept of proxemics. To model the social cost of invading areas where interaction is happening we include the concept of object interaction space. The framework uses Dijkstra's algorithm on a uniform graph of free space where edges are weighed according to the social traversal cost of their outbound node. Experimental results demonstrate the validity of the proposal to plan socially-accepted paths.', keywords = 'Dijkstra, Path-planning, Social navigation', author = 'Araceli Vega and Ramon Cintas and Manso, {Luis J.} and Pablo Bustos and Pedro N{\'u}{\~n}ez', note = '{\textcopyright} Springer Nature B.V. 2019. The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-030-36150-1_53', year = '2020', doi = '10.1007/978-3-030-36150-1_53', language = 'English', isbn = '978-3-030-36149-5', volume = '1093', series = 'Advances in Intelligent Systems and Computing', publisher = 'Springer', pages = '644--655', editor = 'Silva, {Manuel F.} and {Lu{\'i}s Lima}, Jos{\'e} and Reis, {Lu{\'i}s Paulo} and Alberto Sanfeliu and Danilo Tardioli', booktitle = 'Robot 2019', address = 'Germany', edition = '2019', }
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