Multi-agent navigation in human-shared environments: A safe and socially-aware approach

被引：12

作者：

Boldrer, Manuel ^{[1
]}

Antonucci, Alessandro ^{[2
]}

Bevilacqua, Paolo ^{[2
]}

Palopoli, Luigi ^{[2
]}

Fontanelli, Daniele ^{[1
]}

机构：

[1] Univ Trento, Dept Ind Engn DII, Via Sommar 9, Trento, Italy

[2] Univ Trento, Dept Informat Engn & Comp Sci DISI, Via Sommar 9, Trento, Italy

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2022年 / 149卷

关键词：

Multi-robot navigation; Socially-aware navigation; Distributed systems; ROBOT NAVIGATION; VELOCITY OBSTACLE; COVERAGE CONTROL; MOBILE; ALGORITHMS; FRAMEWORK;

D O I：

10.1016/j.robot.2021.103979

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper addresses the problem of multi-robot navigation in human shared spaces. We propose a hierarchical framework that combines global path planning, local path planning and reactive strategies, ensuring a safe and socially-aware navigation. We show through several tests and extensive experiments with a real robotic implementation that our combination of solutions delivers excellent results in terms of robustness and performance even in challenging natural scenarios. (c) 2021 Elsevier B.V. All rights reserved.

引用

页数：14

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