Publication Details

Santosh Balajee Banisetty, Scott Forer, Logan Yliniemi, Monica Nicolescu, and David Feil-Seifer. "Socially-Aware Navigation: A Non-linear Multi-Objective Optimization Approach." In ACM Transactions on Interactive Intelligent Systems, Mar 2021. ( pdf )


  • Keywords:
  • Socially-Aware Navigation (SAN)

Abstract

Mobile robots are increasingly populating homes, hospitals, shopping malls, factory floors, and other human environments. Human society has social norms that people mutually accept, obeying these norms is an essential signal that someone is participating socially with respect to the rest of the population. For robots to be socially compatible with humans, it is crucial for robots to obey these social norms. In prior work, we demonstrated a Socially-Aware Navigation (SAN) planner, based on Pareto Concavity Elimination Transformation (PaCcET), in a hallway scenario, optimizing two objectives so that the robot does not invade the personal space of people. In this paper, we extend our PaCcET based SAN planner to multiple scenarios with more than two objectives. We modified the Robot Operating System's (ROS) navigation stack to include PaCcET in the local planning task. We show that our approach can accommodate multiple Human-Robot Interaction (HRI) scenarios. Using the proposed approach, we were able to achieve successful HRI in multiple scenarios like hallway interactions, an art gallery, waiting in a queue, and interacting with a group. We implemented our method on a simulated PR2 robot in a 2D simulator (Stage) and a pioneer-3DX mobile robot in the real-world to validate all the scenarios. A comprehensive set of experiments shows that our approach can handle multiple interaction scenarios on both holonomic and non-holonomic robots; hence, it can be a viable option for a Unified Socially-Aware Navigation (USAN).

Author Details

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

Name: Scott Forer
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

@article{banisetty2021socially-aware,
  title={Socially-Aware Navigation: A Non-linear Multi-Objective Optimization Approach},
  author={Santosh Balajee Banisetty and Scott Forer and Logan Yliniemi and Monica Nicolescu and David Feil-Seifer},
  year={2021},
  month={March},
  journal={ACM Transactions on Interactive Intelligent Systems},
}

HTML Reference

<span class="authors">Santosh Balajee Banisetty, Scott Forer, Logan Yliniemi, Monica Nicolescu, and David Feil-Seifer</span>. <span class="title">"Socially-Aware Navigation: A Non-linear Multi-Objective Optimization Approach." </span> <span class="status">In</span> <span class="booktitle">ACM Transactions on Interactive Intelligent Systems, </span><span class="volume"></span><span class="pg"></span> <span class="month">Mar</span> <span class="year">2021</span>. <span class="ending"></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