Socially Aware Navigation: A Non-linear Multi-objective Optimization Approach

نویسندگان

چکیده

Mobile robots are increasingly populating homes, hospitals, shopping malls, factory floors, and other human environments. Human society has social norms that people mutually accept; obeying these is an essential signal someone participating socially with respect to the rest of population. For be compatible humans, it crucial for obey norms. In prior work, we demonstrated a Socially-Aware Navigation (SAN) planner, based on Pareto Concavity Elimination Transformation (PaCcET), in hallway scenario, optimizing two objectives so robot does not invade personal space people. This article extends our PaCcET-based SAN planner multiple scenarios more than objectives. We modified Robot Operating System’s (ROS) navigation stack include PaCcET local planning task. show approach can accommodate Human-Robot Interaction (HRI) scenarios. Using proposed approach, achieved successful HRI such as interactions, art gallery, waiting queue, interacting group. implemented method simulated PR2 2D simulator (Stage) pioneer-3DX mobile real-world validate all A comprehensive set experiments shows handle interaction both holonomic non-holonomic robots; hence, viable option Unified (USAN).

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

solution of security constrained unit commitment problem by a new multi-objective optimization method

چکیده-پخش بار بهینه به عنوان یکی از ابزار زیر بنایی برای تحلیل سیستم های قدرت پیچیده ،برای مدت طولانی مورد بررسی قرار گرفته است.پخش بار بهینه توابع هدف یک سیستم قدرت از جمله تابع هزینه سوخت ،آلودگی ،تلفات را بهینه می کند،و هم زمان قیود سیستم قدرت را نیز برآورده می کند.در کلی ترین حالتopf یک مساله بهینه سازی غیر خطی ،غیر محدب،مقیاس بزرگ،و ایستا می باشد که می تواند شامل متغیرهای کنترلی پیوسته و گ...

A Multi Objective Optimization Approach for Resources Procurement of Bank

Calculating total cast of bank resources procurement methods which include current -free loan deposit, saving interest-free loan deposit, regular and net short-term investment deposit, long-term investment deposit and surety bond cash deposit and presenting their optimal integration require precise scientific studies. Hence, this study is an attempt to know which methods are the best optimal in...

متن کامل

Multi-Objective Design Optimization of a Linear Brushless Permanent Magnet Motor Using Particle Swarm Optimization (PSO)

In this paper a brushless permanent magnet motor is designed considering minimum thrust ripple and maximum thrust density (the ratio of the thrust to permanent magnet volumes). Particle Swarm Optimization (PSO) is used as optimization method. Finite element analysis (FEA) is carried out base on the optimized and conventional geometric dimensions of the motor. The results of the FEA deal to ...

متن کامل

a multi objective optimization approach for resources procurement of bank

calculating total cast of bank resources procurement methods which include current -free loan deposit, saving interest-free loan deposit, regular and net short-term investment deposit, long-term investment deposit and surety bond cash deposit and presenting their optimal integration require precise scientific studies. hence, this study is an attempt to know which methods are the best optimal in...

متن کامل

A Soft Approach to Multi-objective Optimization

Many combinatorial optimization problems require the assignment of a set of variables in such a way that an objective function is optimized. Often, the objective function involves different criteria, and it may happen that the requirements are in conflict: assignments that are good wrt. one objective may behave badly wrt. another. An optimal solution wrt. all criteria may not exist, and either ...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: ACM transactions on interactive intelligent systems

سال: 2021

ISSN: ['2160-6455', '2160-6463']

DOI: https://doi.org/10.1145/3453445