4.5 Article

Human-aware robot navigation: A survey

Journal

ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 61, Issue 12, Pages 1726-1743

Publisher

ELSEVIER
DOI: 10.1016/j.robot.2013.05.007

Keywords

Autonomous robot; Navigation; Human-aware; Human-centered environment; Survey

Funding

  1. Technische Universitat Munchen - Institute for Advanced Study
  2. Bavarian Academy of Sciences and Humanities
  3. German Excellence Initiative
  4. CoTeSys (Cognition for Technical Systems) cluster of excellence
  5. EU SAPHARI project
  6. E.C. Division FP7-IST [ICT-287513]

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Navigation is a basic skill for autonomous robots. In the last years human-robot interaction has become an important research field that spans all of the robot capabilities including perception, reasoning, learning, manipulation and navigation. For navigation, the presence of humans requires novel approaches that take into account the constraints of human comfort as well as social rules. Besides these constraints, putting robots among humans opens new interaction possibilities for robots, also for navigation tasks, such as robot guides. This paper provides a survey of existing approaches to human-aware navigation and offers a general classification scheme for the presented methods. (C) 2013 Elsevier By. All rights reserved.

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