Publication Details

Scott Forer, Santosh Balajee Banisetty, Logan Yliniemi, Monica Nicolescu, and David Feil-Seifer. "Socially-Aware Navigation Using Non-Linear Multi-Objective Optimization." In IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, Oct 2018. doi: 10.1109/IROS.2018.8593825 ( pdf )


  • Keywords:
  • Socially-Aware Navigation (SAN)

Abstract

For socially assistive robots (SAR) to be accepted into complex and stochastic human environments, it is important to account for subtle social norms. In this paper, we propose a novel approach to socially-aware navigation (SAN) which garnered an immense interest in the Human-Robot Interaction(HRI) community. We use a multi-objective optimization tool called the Pareto Concavity Elimination Transformation (PaCcET) to capture the non-linear human navigation behavior, a novel contribution to the community. We use autonomously sensed distance-based features that captures the social norms and associated social costs for a given trajectory point towards the goal. Rather than use a finely-tuned linear combination of these costs, we use PaCcET to select an optimized future trajectory point, associated with a non-linear combination of the costs. Existing research in this domain concentrates on geometric reasoning, model-based, and learning approaches, which have their own pros and cons. This approach is distinct from prior work in this area. We showed in a simulation that the PaCcET based trajectory planner not only is able to avoid collisions and reach the intended destination in static and dynamic environments but also considers a human’s personal space in the trajectory selection process.

Author Details

Name: Scott Forer
Status: Active

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

Name: Logan Yliniemi
Status: Inactive

Name: Monica Nicolescu
Status: Active

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

BibTex Reference

@inproceedings{forer2018socially-aware,
  title={Socially-Aware Navigation Using Non-Linear Multi-Objective Optimization},
  author={Scott Forer and Santosh Balajee Banisetty and Logan Yliniemi and Monica Nicolescu and David Feil-Seifer},
  year={2018},
  month={October},
  address={Madrid, Spain},
  doi={10.1109/IROS.2018.8593825},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems},
}

HTML Reference

<span class="authors">Scott Forer, Santosh Balajee Banisetty, Logan Yliniemi, Monica Nicolescu, and David Feil-Seifer</span>. <span class="title">"Socially-Aware Navigation Using Non-Linear Multi-Objective Optimization." </span> In <span class="booktitle">IEEE/RSJ International Conference on Intelligent Robots and Systems</span>, <span class="address">Madrid, Spain</span>, <span class="month">Oct</span> <span class="year">2018</span>. <span class="ending"></span> <span class="doi">doi: 10.1109/IROS.2018.8593825</span>

Support

CHS: Small: Socially-Aware Navigation, National Science Foundation PI: David Feil-Seifer, co-PI: Monica Nicolescu, Amount: $500,000, Sept. 1, 2017 - Aug. 31, 2021

Designing Collaborator Robots for Highly-Dynamic Multi-Human, Multi-Robot Teams, Office of Naval Research (ONR) PI: Monica Nicolescu, co-PI: David Feil-Seifer, Amount: $656,511, April 1, 2016 - March 31, 2019

Infrastructure For Socially-Aware Navigation For Long-Term Human-Robot Interaction, NASA EPSCoR PI: David Feil-Seifer, co-PI: Kimberly Barchard, Amount: $30,416, July 1, 2017 - April 9, 2018

DURIP: Humanoid Platforms for Human-Robot Collaboration, Office of Naval Research (ONR) PI: Monica Nicolescu, co-PI: David Feil-Seifer, Mircea Nicolescu, Amount: $312,000, May 1, 2014 - June 30, 2015