HATEB-2: Reactive Planning and Decision making in Human-Robot Co-navigation

We propose a new framework combining decision making and planning in the human-robot co-navigation scenario. This new framework, called HATEB-2, introduces different modalities of planning and shift between them based on the situation at hand. These transitions are controlled by the decision making...

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Bibliographic Details
Published in2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) pp. 179 - 186
Main Authors Teja S., Phani, Alami, Rachid
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2020
Subjects
Decision making
Dual band
Navigation
Planning
Robot motion
Robots
Trajectory
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Summary:We propose a new framework combining decision making and planning in the human-robot co-navigation scenario. This new framework, called HATEB-2, introduces different modalities of planning and shift between them based on the situation at hand. These transitions are controlled by the decision making loop present on top of the planning. We also present the improvements made to human prediction and estimation along with the modifications to a few social constraints from our previous work, that are included in HATEB-2. Finally, several experiments are performed in human-robot co-navigation scenarios and results are presented. One of the modalities of HATEB-2 is used in EU-funded MuMMER [1] project (http://mummer-project.eu/).
ISSN:1944-9437
DOI:10.1109/RO-MAN47096.2020.9223463