Multi-agent navigation in human-shared environments: A safe and socially-aware approach

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.

Automated summary

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.