Towards Benchmarking Human-Aware Social Robot Navigation: A New Perspective and Metrics - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2023

Towards Benchmarking Human-Aware Social Robot Navigation: A New Perspective and Metrics

Phani-Teja Singamaneni
Anthony Favier
Rachid Alami

Résumé

Human-aware robot navigation planning enables robots to traverse human-occupied spaces socially. However, evaluating and benchmarking the 'human awareness' of such navigation schemes is challenging. With the growing necessity and research interest in the field, there is a need to define metrics to quantify and benchmark such qualities. In this regard, this paper proposes a set of metrics by looking at the problem from a new perspective. These proposals are made by inspecting the robot's navigation from the viewpoint of a human experiencing it and then defining proxies for the perceived human feelings. Analyses of some commonly occurring humanrobot navigation scenarios using these metrics show their capability in benchmarking and differentiating human-aware robot navigation from standard robot navigation.
Fichier principal
Vignette du fichier
Metrics_for_Benchmarking_HAN.pdf (668.69 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04196832 , version 1 (07-09-2023)
hal-04196832 , version 2 (11-09-2023)

Identifiants

Citer

Phani-Teja Singamaneni, Anthony Favier, Rachid Alami. Towards Benchmarking Human-Aware Social Robot Navigation: A New Perspective and Metrics. IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2023, Aug 2023, Busan, South Korea. ⟨10.1109/RO-MAN57019.2023.10309398⟩. ⟨hal-04196832v2⟩
149 Consultations
222 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More