A New Approach for Including Social Conventions into Social Robots Navigation by Using Polygonal Triangulation and Group Asymmetric Gaussian Functions

Many authors have been working on approaches that can be applied to social robots to allow a more realistic/comfortable relationship between humans and robots in the same space. This paper proposes a new navigation strategy for social environments by recognizing and considering the social convention...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2022-06, Vol.22 (12), p.4602
Main Authors: Sousa, Raphaell Maciel de, Barrios-Aranibar, Dennis, Diaz-Amado, Jose, Patiño-Escarcina, Raquel E., Trindade, Roque Mendes Prado
Format: Article
Language:English
Subjects:
Algorithms
Apexes
asymmetric Gaussian function
Asymmetry
Collaboration
Conventions
delaunay triangulation
Perception
Planning
Robots
social conventions
Social interaction
social robots navigation
socialization features
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Summary:Many authors have been working on approaches that can be applied to social robots to allow a more realistic/comfortable relationship between humans and robots in the same space. This paper proposes a new navigation strategy for social environments by recognizing and considering the social conventions of people and groups. To achieve that, we proposed the application of Delaunay triangulation for connecting people as vertices of a triangle network. Then, we defined a complete asymmetric Gaussian function (for individuals and groups) to decide zones where the robot must avoid passing. Furthermore, a feature generalization scheme called socialization feature was proposed to incorporate perception information that can be used to change the variance of the Gaussian function. Simulation results have been presented to demonstrate that the proposed approach can modify the path according to the perception of the robot compared to a standard A* algorithm.
ISSN:1424-8220
1424-8220
DOI:10.3390/s22124602