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Título: | Social-aware robot navigation in urban environments |
Autor: | Ferrer, Gonzalo CSIC ORCID; Garrell, Anaís CSIC ORCID ; Sanfeliu, Alberto CSIC ORCID ; Sanfeliu, Alberto CSIC ORCID | Fecha de publicación: | 2013 | Editor: | Institute of Electrical and Electronics Engineers | Citación: | Proceedings European Conference on Mobile Robots: 331-336 (2013) | Resumen: | In this paper we present a novel robot navigation approach based on the so-called Social Force Model (SFM). First, we construct a graph map with a set of destinations that completely describe the navigation environment. Second, we propose a robot navigation algorithm, called social-aware navigation, which is mainly driven by the social-forces centered at the robot. Third, we use a MCMC Metropolis-Hastings algorithm in order to learn the parameters values of the method. Finally, the validation of the model is accomplished throughout an extensive set of simulations and real-life experiments. | Descripción: | Presentado al 6th ECMR celebrado en Barcelona del 25 al 27 de septiembre de 2013. | Versión del editor: | http://dx.doi.org/10.1109/ECMR.2013.6698863 | URI: | http://hdl.handle.net/10261/97468 | DOI: | 10.1109/ECMR.2013.6698863 | ISBN: | 978-1-4799-0263-7 | Identificadores: | doi: 10.1109/ECMR.2013.6698863 |
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