Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 149, Issue -, Pages -Publisher
ELSEVIER
DOI: 10.1016/j.robot.2021.103979
Keywords
Multi-robot navigation; Socially-aware navigation; Distributed systems
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This paper proposes a hierarchical framework for multi-robot navigation in human shared spaces and demonstrates its excellent performance through extensive experiments in challenging scenarios.
The paper addresses the problem of multi-robot navigation in human shared spaces. We propose a hierarchical framework that combines global path planning, local path planning and reactive strategies, ensuring a safe and socially-aware navigation. We show through several tests and extensive experiments with a real robotic implementation that our combination of solutions delivers excellent results in terms of robustness and performance even in challenging natural scenarios. (c) 2021 Elsevier B.V. All rights reserved.
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