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A New Approach for Including Social Conventions into Social Robots Navigation by Using Polygonal Triangulation and

Raphaell Maciel de Sousa¹, Dennis Barrios-Aranibar², Jose Diaz-Amado^2,3

¹Instituto Federal da Paraíba (IFPB), Campus Cajazeiras, Cajazeiras 58900-000, PB, Brazil.

Sensors (Basel, Switzerland)

|June 24, 2022

Summary

This summary is machine-generated.

This study introduces a novel navigation strategy for social robots, using Delaunay triangulation and Gaussian functions to respect social conventions and avoid people. The approach enhances human-robot interaction comfort and safety in shared spaces.

Keywords:

asymmetric Gaussian function delaunay triangulation social conventions social robots navigation socialization features

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Published on: May 2, 2019

Area of Science:

Robotics
Human-Robot Interaction
Artificial Intelligence

Background:

Developing realistic and comfortable human-robot relationships in shared spaces is a key challenge.
Existing social robot navigation strategies often lack nuanced consideration of human social conventions.

Purpose of the Study:

To propose a new navigation strategy for social robots that recognizes and incorporates social conventions of individuals and groups.
To enhance the safety and comfort of human-robot interactions in social environments.

Main Methods:

Utilized Delaunay triangulation to create a network connecting people, representing them as vertices.
Defined an asymmetric Gaussian function to identify zones to be avoided by the robot.
Introduced a socialization feature for incorporating perception information to adjust the Gaussian function's variance.

Main Results:

The proposed navigation strategy successfully modified robot paths based on perceived social environments.
Simulations demonstrated the effectiveness of the approach in navigating social spaces compared to the standard A* algorithm.

Conclusions:

The developed navigation strategy effectively integrates social conventions into robot path planning.
This approach offers a promising method for improving social robot behavior and acceptance in human environments.