Publication Details

Santosh Balajee Banisetty, Vineeth Rajamohan, Fausto Vega, and David Feil-Seifer. "A Deep Learning Approach To Multi-Context Socially-Aware Navigation." University of British Columbia and University of Waterloo, Canada, Aug 2021. IEEE/RSJ International Conference on Robot and Human Interactive Communication. ( pdf )


  • Keywords:
  • Socially-Aware Navigation (SAN)

Abstract

We present a context classification pipeline to allow a robot to change its navigation strategy based on the observed social scenario. Socially-Aware Navigation considers social behavior in order to improve navigation around people. Most of the existing research uses different techniques to incorporate social norms into robot path planning for a single context. Methods that work for hallway behavior might not work for approaching people, and so on. We developed a high-level decision-making subsystem, a model-based context classifier, and a multi-objective optimization-based local planner to achieve socially-aware trajectories for autonomously sensed contexts. Using a context classification system, the robot can select social objectives that are later used by Pareto Concavity Elimination Transformation (PaCcET) based local planner to generate safe, comfortable and socially-appropriate trajectories for its environment. This was tested and validated in multiple environments on a Pioneer mobile robot platform; results show that the robot was able to select and account for social objectives related to navigation autonomously.

Author Details

Name: Santosh Balajee Banisetty
email: santoshbanisetty@nevada.unr.edu
Website: http://www.santoshbanisetty.com/
Status: Active

Name: Vineeth Rajamohan
Status: Active

Name: Fausto Vega
Status: Inactive

Name: David Feil-Seifer
email: dave@cse.unr.edu
Website: http://cse.unr.edu/~dave
Phone: (775) 784-6469
Status: Active

BibTex Reference

@inproceedings{banisetty2021a,
  title={A Deep Learning Approach To Multi-Context Socially-Aware Navigation},
  author={Santosh Balajee Banisetty and Vineeth Rajamohan and Fausto Vega and David Feil-Seifer},
  year={2021},
  month={August},
  address={University of British Columbia and University of Waterloo, Canada},
  publisher={IEEE/RSJ International Conference on Robot and Human Interactive Communication},
}

HTML Reference

<span class="authors">Santosh Balajee Banisetty, Vineeth Rajamohan, Fausto Vega, and David Feil-Seifer</span>. <span class="title">"A Deep Learning Approach To Multi-Context Socially-Aware Navigation." </span> <span class="address">University of British Columbia and University of Waterloo, Canada</span>, <span class="month">Aug</span> <span class="year">2021</span>. <span class="ending">IEEE/RSJ International Conference on Robot and Human Interactive Communication.</span>

Support

CHS: Small: Socially-Aware Navigation, National Science Foundation PI: David Feil-Seifer, co-PI: Monica Nicolescu, Amount: $500,000, Sept. 1, 2017 - May 31, 2022

REU Site: Collaborative Human-Robot Interaction, National Science Foundation PI: David Feil-Seifer, co-PI: Shamik Sengupta, Amount: $360,000, Feb. 1, 2018 - Jan. 31, 2022