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Human-Aware Navigation Planner for Diverse Human-Robot Contexts

06/18/2021
by   Phani Singamaneni, et al.
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As more robots are being deployed into human environments, a human-aware navigation planner needs to handle multiple contexts that occur in indoor and outdoor environments. In this paper, we propose a tunable human-aware robot navigation planner that can handle a variety of humanrobot contexts. We present the architecture of the planner and discuss the features and some implementation details. Then we present a detailed analysis of various simulated humanrobot contexts using the proposed planner along with some quantitative results. Finally, we show the results in a real-world scenario after deploying our system on a real robot.

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