Socially-Aware Opinion-Based Navigation with Oval Limit Cycles
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866916471685251072 |
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| author | d'Addato, Giulia Falqueto, Placido Palopoli, Luigi Fontanelli, Daniele |
| author_facet | d'Addato, Giulia Falqueto, Placido Palopoli, Luigi Fontanelli, Daniele |
| contents | When humans move in a shared space, they choose navigation strategies that preserve their mutual safety. At the same time, each human seeks to minimise the number of modifications to her/his path. In order to achieve this result, humans use unwritten rules and reach a consensus on their decisions about the motion direction by exchanging non-verbal messages. They then implement their choice in a mutually acceptable way. Socially-aware navigation denotes a research effort aimed at replicating this logic inside robots. Existing results focus either on how robots can participate in negotiations with humans, or on how they can move in a socially acceptable way. We propose a holistic approach in which the two aspects are jointly considered. Specifically, we show that by combining opinion dynamics (to reach a consensus) with vortex fields (to generate socially acceptable trajectories), the result outperforms the application of the two techniques in isolation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_04678 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Socially-Aware Opinion-Based Navigation with Oval Limit Cycles d'Addato, Giulia Falqueto, Placido Palopoli, Luigi Fontanelli, Daniele Robotics Multiagent Systems When humans move in a shared space, they choose navigation strategies that preserve their mutual safety. At the same time, each human seeks to minimise the number of modifications to her/his path. In order to achieve this result, humans use unwritten rules and reach a consensus on their decisions about the motion direction by exchanging non-verbal messages. They then implement their choice in a mutually acceptable way. Socially-aware navigation denotes a research effort aimed at replicating this logic inside robots. Existing results focus either on how robots can participate in negotiations with humans, or on how they can move in a socially acceptable way. We propose a holistic approach in which the two aspects are jointly considered. Specifically, we show that by combining opinion dynamics (to reach a consensus) with vortex fields (to generate socially acceptable trajectories), the result outperforms the application of the two techniques in isolation. |
| title | Socially-Aware Opinion-Based Navigation with Oval Limit Cycles |
| topic | Robotics Multiagent Systems |
| url | https://arxiv.org/abs/2411.04678 |