[PDF][PDF] Towards Enhancing Social Navigation through Contextual and Human-related Knowledge.
ALTRUIST@ ICSR, 2022•ceur-ws.org
Robots acting in real-world environments usually need to interact with humans. Interactions
may occur at different levels of abstraction (eg, process, task, physical), entailing different
research challenges (eg, task allocation, human-robot joint actions, robot navigation). For
social navigation, we propose a conceptual integration of task and motion planning to
contextualize robot behaviors. The main idea is to leverage the contextual knowledge of a
task planner to dynamically contextualize the navigation skills of a robot. More specifically …
may occur at different levels of abstraction (eg, process, task, physical), entailing different
research challenges (eg, task allocation, human-robot joint actions, robot navigation). For
social navigation, we propose a conceptual integration of task and motion planning to
contextualize robot behaviors. The main idea is to leverage the contextual knowledge of a
task planner to dynamically contextualize the navigation skills of a robot. More specifically …
Abstract
Robots acting in real-world environments usually need to interact with humans. Interactions may occur at different levels of abstraction (eg, process, task, physical), entailing different research challenges (eg, task allocation, human-robot joint actions, robot navigation). For social navigation, we propose a conceptual integration of task and motion planning to contextualize robot behaviors. The main idea is to leverage the contextual knowledge of a task planner to dynamically contextualize the navigation skills of a robot. More specifically, we propose a holistic model of tasks and human features and a mapping from task-level knowledge to motion-level knowledge to constrain the generation of robot trajectories.
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