Safe Robot Navigation in Dense Crowds

Información del proyecto

CROWDBOT

Identificador del acuerdo de subvención: 779942

DOI

10.3030/779942

Proyecto cerrado

Fecha de la firma de la CE 20 Octubre 2017

Fecha de inicio 1 Enero 2018

Fecha de finalización 31 Diciembre 2021

Financiado con arreglo a

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Coste total

€ 3 997 660,00

Aportación de la UE

€ 3 997 660,00

Coordinado por

INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET AUTOMATIQUE
France

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Resultado final

Documents, reports (26)

Experiment protocol and risk assessment
Final integrated system, including simulation, crowd navigation for experimental scenario

Final integrated system including simulation crowd navigation for experimental scenario

Shared control navigation
Final evaluation report
Specification of Scenarios Requirements
Project website
Proceedings of ESAB workshops and report on ethical protocols
Report on physical interactions between robots and humans
Sensor specification
Overview of risks when using robots in crowds
System architecture
Crowd simulator - final version

Crowd simulator final version

Initial Communication, dissemination and exploitation plan
Robust localization and mapping
Crowd simulator - intermediate version
Second updated and extended integrated robot system with smart environment sensory communication and situation assessment capability for experimental scenario
Local interaction-aware motion planning
Reactive motion planning
CROWDBOT challenge
Social navigation
First basic integrated robot system prototype in experimental scenario
Local sensing first prototype
Initial evaluation report
First release of the localization, mapping and local motion planning
Local sensing system
Specification update

Publicaciones

Book chapters (2)

Safe Human-Robot Interaction Through Crowd Contact Video Analysis

Autores: Fernando Garcia, Alexandre Mazel, Arturo Cruz Maya
Publicado en: Social Robotics - 11th International Conference, ICSR 2019, Madrid, Spain, November 26–29, 2019, Proceedings, Edición 11876, 2019, Página(s) 588-598, ISBN 978-3-030-35887-7
Editor: Springer International Publishing
DOI: 10.1007/978-3-030-35888-4_55

Towards Dialogue-Based Navigation with Multivariate Adaptation Driven by Intention and Politeness for Social Robots

Autores: Chandrakant Bothe, Fernando Garcia, Arturo Cruz Maya, Amit Kumar Pandey, Stefan Wermter
Publicado en: Social Robotics - 10th International Conference, ICSR 2018, Qingdao, China, November 28 - 30, 2018, Proceedings, Edición 11357, 2018, Página(s) 230-240, ISBN 978-3-030-05203-4
Editor: Springer International Publishing
DOI: 10.1007/978-3-030-05204-1_23

Conference proceedings (46)

Autonomy vs. Safety in Shared Control Crowd Navigation

Autores: Eberle, H.; Zhang, B.; Mathibela, B.; Walker, G.; Teodorescu, C.; Holloway, C.; Carlson, T.
Publicado en: In: Proceedings of the 29th IEEE International Conference on Robot and Human Interactive Communication, Ro-Man 2020. 29th IEEE International Conference on Robot and Human Interactive Communication, Ro-Man 2020: Naples, Italy. (2020) (In press)., Edición 2, 2020
Editor: RO-MAN

Domain and Modality Gaps for LiDAR-based Person Detection on Mobile Robots

Autores: Dan Jia, Alexander Hermans, Bastian Leibe
Publicado en: arXiv pre-publication, 2021
Editor: arXiv pre-publication

Physical Safety in Collisions Between Robots and Pedestrians

Autores: Paez-Granados, Diego Felipe; Gonon, David; Salvini, Pericle; Billard, Aude
Publicado en: IEEEE International Conference on Robot and Human Interactive Communication (ROMAN-2020) Workshop on Robots from Pathways to Crowds (Virtual conference), 2020
Editor: ROMAN-2020
DOI: 10.13140/rg.2.2.28087.55209

On the Safety of Mobile Robots Serving in Public Spaces, Identifying gaps in EN ISO 13482:2014 and calling for a new standard

Autores: Pericle Salvini, Diego Paez-Granados, Aude Billard
Publicado en: ACM Transactions on Human-Robot Interaction (THRI), 2020
Editor: ACM Transactions on Human-Robot Interaction (THRI)

UNDER REVIEW - Reinforcement Learning Based Shared-Control Navigation

Autores: Zhang, B., Holloway, C., Carlson, T.
Publicado en: ICRA 2022, 2022
Editor: ICRA 2022

Robot Navigation in Crowded Environments Using Deep Reinforcement Learning

Autores: Liu, Lucia; Dugas, Daniel; Cesari, Gianluca; Siegwart, Roland; Dubé, Renaud
Publicado en: IROS 2020, 2020
Editor: IROS

From HRI to CRI: Crowd Robot Interaction - understanding the effect of robots on crowd motion

Autores: Zhang, B., Amirian, J., Eberle, H., Pettré, J., Holloway, C., & Carlson, T.
Publicado en: International Journal of Social Robotics 2021, 2021
Editor: International Journal of Social Robotics 2021
DOI: 10.1007/s12369-021-00812-7

Understanding mental models in robot navigation: A shared-controlled wheelchair case study

Autores: Zhang, Bingqing; Holloway, Catherine; Carlson, Tom
Publicado en: Workshop on Mental Models of Robots at HRI 2020, 2020
Editor: HRI

Proactive-cooperative Navigation in Human-like Environment for Autonomous Robots

Autores: Paolo Salaris; Wanting Jin; Philippe Martinet
Publicado en: ICINCO 2020 - 17th International Conference on Informatics in Control, Automation and Robotics, Jul 2020, Paris / Online, France, Edición 1, 2020
Editor: ICINCO 2020
DOI: 10.5220/0009822004120419

OpenTraj: Assessing Prediction Complexity in Human Trajectories Datasets

Autores: Javad Amirian, Bingqing Zhang, Francisco Valente Castro, Juan Jose Baldelomar, Jean-Bernard Hayet, Julien Pettre
Publicado en: ACCV2020, 2020
Editor: arxiv

The Impact of Agent Definitions and Interactions on Multiagent Learning for Coordination

Autores: Chung, Jen Jen; Miklić, Damjan; Sabattini, Lorenzo; Tumer, Kagan; Siegwart, Roland
Publicado en: AAMAS '19 Proceedings of the 18th International Conference on Autonomous Agents and MultiAgent Systems, Edición 2, 2019
Editor: IFAAMAS
DOI: 10.3929/ethz-b-000358306

IAN: Multi-Behavior Navigation Planning for Robots in Real, Crowded Environments

Autores: Dugas, Daniel; Nieto, Juan; Siegwart, Roland; Chung, Jen Jen
Publicado en: IROS 2020, 2020
Editor: IROS

PLANNED - Crowd Navigation and Analysis of Pedestrian Response to Reactive Navigation Controllers

Autores: Paez-Granados D., He Y., Gonon D., Huber L., & Billard A.
Publicado en: IROS2022, 2022
Editor: IROS2022

A hierarchical design for shared-control wheelchair navigation in dynamic environments

Autores: Zhang, Bingqing; Holloway, Catherine; Carlson, Tom
Publicado en: SMC 2020, 2020
Editor: SMC

Enabling Socially Competent navigation through incorporating HRI

Autores: Cruz-Maya, Arturo; Garcia, Fernando; Pandey, Amit Kumar
Publicado en: HRI 2019, Edición 1, 2019
Editor: HRI

PLANNED - What we see and What we don't see: Imputing Occluded Crowd Structures from Robot Sensing

Autores: J Amirian, JB Hayet, J Pettre
Publicado en: arXiv pre-publication, 2021
Editor: arXiv pre-publication

Robust Sensor Fault Detection for a Shared Control Wheelchair

Autores: Eberle, H., & Carlson, T.
Publicado en: RehabWeek 2021, 2021
Editor: RehabWeek 2021

An ‘Ethical Black Box’, Learning From Disagreement in Shared Control Systems

Autores: Eberle, H., Zhang, B., Teodorescu, C., Walker, G., & Carlson, T.
Publicado en: Proceedings of the IEEE International Conference On Systems, Man, and Cybernetics (SMC) 2021, 2021
Editor: Proceedings of the IEEE International Conference On Systems, Man, and Cybernetics (SMC) 2021

Visual Person Understanding through Multi-Task and Multi-Dataset Learning

Autores: Kilian Pfeiffer, Alexander Hermans, Istvan Sarandi, Mark Weber, Bastian Leibe
Publicado en: GCPR 2019, 2019
Editor: GCPR 2019
DOI: 10.1007/978-3-030-33676-9_39

NavRep: Unsupervised Representations for Reinforcement Learning of Robot Navigation in Dynamic Human Environments

Autores: Daniel Dugas, Juan Nieto, Roland Siegwart and Jen Jen Chung
Publicado en: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Editor: ICRA2021
DOI: 10.1109/icra48506.2021.9560951

Generalized Microscropic Crowd Simulation using Costs in Velocity Space

Autores: Wouter van Toll, Fabien Grzeskowiak, Axel López Gandía, Javad Amirian, Florian Berton, Julien Bruneau, Beatriz Cabrero Daniel, Alberto Jovane, Julien Pettré
Publicado en: Symposium on Interactive 3D Graphics and Games, 2020, Página(s) 1-9, ISBN 9781450375894
Editor: ACM
DOI: 10.1145/3384382.3384532

PLANNED - NavRep3D: Reinforcement Learning for Camera-based Navigation among Humans

Autores: Daniel Dugas, Olov Andersson, Roland Siegwart and Jen Jen Chung
Publicado en: IROS2022, 2022
Editor: IROS2022

Unfreezing Social Navigation : Dynamical Systems based Compliance for Contact Control in Robot Navigation

Autores: Paez-Granados D., Gupta V. & Billard A.
Publicado en: Robotics Science and Systems (RSS) - Workshop on Social Robot Navigation, 2021
Editor: Robotics Science and Systems (RSS) - Workshop on Social Robot Navigation

Social ways: Learning multi-modal distributions of pedestrian trajectories with GANs

Autores: Amirian, Javad; Hayet, Jean-Baptiste; Pettré, Julien
Publicado en: IEEE Conference on Computer Vision and Pattern Recognition Workshops, 2019
Editor: CVPR 2019

Shared-control in Wheelchairs – Building Interaction Bridges

Autores: Zhang, B.; Holloway, C.; Carlson, T.; Ramirez Herrera, R.
Publicado en: In: CHI '19 Workshop: Weaving the Threads of Vehicle Automation. ACM: Glasgow, UK. (2019) (In press)., Edición 1, 2019
Editor: CHI

Self-Supervised Person Detection in 2D Range Data using a Calibrated Camera

Autores: Dan Jia, Mats Steinweg, Alexander Hermans, Bastian Leibe
Publicado en: IEEE International Conference on Robotics and Automation (ICRA) 2021, 2021
Editor: ICRA 2021
DOI: 10.1109/icra48506.2021.9561699

UNDER REVIEW - Unfreezing Social Navigation : Dynamical Systems based Compliance for Contact Control in Robot Navigation

Autores: Paez-Granados D., Gupta V. & Billard A.
Publicado en: ICRA 2022, 2022
Editor: ICRA 2022

STEm-Seg: Spatio-Temporal Embeddings for Instance Segmentation in Videos

Autores: Ali Athar, Sabarinath Mahadevan, Aljos̆a Os̆ep, Laura Leal-Taixé, Bastian Leibe
Publicado en: Computer Vision – ECCV 2020 - 16th European Conference, Glasgow, UK, August 23–28, 2020, Proceedings, Part XI, Edición 12356, 2020, Página(s) 158-177, ISBN 978-3-030-58620-1
Editor: Springer International Publishing
DOI: 10.1007/978-3-030-58621-8_10

Iteratively Trained Interactive Segmentation

Autores: Mahadevan, Sabarinath; Voigtlaender, Paul; Leibe, Bastian
Publicado en: British Machine Vision Conference (BMVC), Edición 1, 2018
Editor: BMVA

DR-SPAAM: A Spatial-Attention and Auto-regressive Model for Person Detection in 2D Range Data

Autores: Jia, Dan; Hermans, Alexander; Leibe, Bastian
Publicado en: International Conference on Intelligent Robots and Systems, Edición 1, 2020
Editor: IEEE/RSJ

Making a Case for 3D Convolutions for Object Segmentation in Videos

Autores: Sabarinath Mahadevan, Ali Athar, Aljosa Osep, Sebastian Hennen, Laura Leal-Taixe, Bastian Leibe
Publicado en: British Machine Vision Conference (BMVC), 2020
Editor: BMVA

Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd

Autores: Fabien Grzeskowiak, David Gonon, Daniel Dugas, Diego Paez-Granados, Jen Chung, Juan Nieto, Roland Siegwart, Aude Billard, Marie Babel, Julien Pettré
Publicado en: ICRA 2021, 2021
Editor: ICRA 2021

Toward Virtual Reality-based Evaluation of Robot Navigation among People

Autores: Grzeskowiak, Fabien; Babel, Marie; Bruneau, Julien; Pettre, Julien
Publicado en: 2020 IEEE VR, 2020
Editor: IEEE VR

Data-Driven Crowd Simulation with Generative Adversarial Networks

Autores: Javad Amirian, Wouter van Toll, Jean-Bernard Hayet, Julien Pettré
Publicado en: Proceedings of the 32nd International Conference on Computer Animation and Social Agents - CASA '19, 2019, Página(s) 7-10, ISBN 9781450371599
Editor: ACM Press
DOI: 10.1145/3328756.3328769

UNDER REVIEW - Estimating risks posed by personal mobility devices and service robots to pedestrians : comparative crash testing on adult and child dummies

Autores: Paez-Granados D. & Billard A.
Publicado en: 2022
Editor: Journal

Crowd Navigation in VR: exploring haptic rendering of collisions

Autores: Berton, Florian; Grzeskowiak, Fabien; bonneau, Alexandre; Jovane, Alberto; Aggravi, Marco; Hoyet, Ludovic; Olivier, Anne-Hélène; Pacchierotti, Claudio; Pettré, Julien
Publicado en: IEEE Transactions on Visualization and Computer Graphics, Edición 1, 2020, ISBN 9781450375894
Editor: IEEE Transactions on Visualization and Computer Graphics
DOI: 10.1109/tvcg.2020.3041341

From freezing to jostling robots: Current challenges and new paradigms for safe robot navigation in dense crowds

Autores: Pettré, Julien; Babel, Marie; Hayet, Jean-Bernard; Salaris, Paolo; Salvini, Pericle
Publicado en: IROS 2018, 2018
Editor: IROS

PLANNED - Flowbot: Flow-based Modelling of Crowds for Robot Navigation Planning

Autores: Daniel Dugas, Olov Andersson, Roland Siegwart and Jen Jen Chung
Publicado en: IROS2022, 2022
Editor: IROS2022

Investigating the effects of social interactive behaviours of a robot on people’s trust during a navigation task

Autores: Alessandra Rossi, Fernando Garcia, Arturo Cruz Maya, Kerstin Dautenhahn, Kheng Lee Koay, Michael L. Walters, and Amit K. Pandey
Publicado en: Annual Conference Towards Autonomous Robotic Systems 2019, 2019
Editor: Springer

Wait for me! Towards socially assistive walk companions

Autores: Garcia, Fernando; Pandey, Amit Kumar; Fattal, Charles
Publicado en: HRI 2019, Edición 2, 2019
Editor: HRI

Person-MinkUNet: 3D Person Detection with LiDAR Point Cloud

Autores: Dan Jia, Bastian Leibe
Publicado en: IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2021, 2021
Editor: CVPRW 2021

A Data-driven Model for Interaction-Aware Pedestrian Motion Prediction in Object Cluttered Environments

Autores: Mark Pfeiffer, Giuseppe Paolo, Hannes Sommer, Juan Nieto, Rol Siegwart, Cesar Cadena
Publicado en: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Página(s) 1-8, ISBN 978-1-5386-3081-5
Editor: IEEE
DOI: 10.1109/ICRA.2018.8461157

Design requirements and challenges for intelligent power wheelchair use in crowds: learning from expert wheelchair users

Autores: Zhang, B., Eberle, H., Holloway, C., & Carlson, T.
Publicado en: Proceedings of the RESNA Annual Conference 2021., 2021
Editor: Proceedings of the RESNA Annual Conference 2021.

Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd.

Autores: F. Grzeskowiak, D. Gonon, D. Dugas, D. Paez-Granados, J. J. Chung, J. Nieto, R. Siegwart, A. Billard, M. Babel and J. Pettré
Publicado en: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Editor: ICRA2021
DOI: 10.1109/icra48506.2021.9561694

CONDITIONAL ACCEPT - Understanding Interactions for Smart Wheelchair Navigation in Crowds

Autores: Zhang, B., Herrera, R., Barbareschi, G., Carlson, T., Holloway, C
Publicado en: CHI 2022, 2022
Editor: CHI 2022

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

Autores: Salvini, Pericle; Paez-Granados, Diego Felipe; Billard, Aude
Publicado en: International Journal of Social Robotics 2020, 2020
Editor: International Journal of Social Robotics 2020

Peer reviewed articles (7)

MeTRAbs: Metric-Scale Truncation-Robust Heatmaps for Absolute 3D Human Pose Estimation

Autores: Istvan Sarandi, Timm Linder, Kai Oliver Arras, Bastian Leibe
Publicado en: IEEE Transactions on Biometrics, Behavior, and Identity Science, Edición 3/1, 2021, Página(s) 16-30, ISSN 2637-6407
Editor: IEEE Transactions on Biometrics, Behavior, and Identity Science
DOI: 10.1109/tbiom.2020.3037257

Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction

Autores: Lukas Huber, Aude Billard, Jean-Jacques Slotine
Publicado en: IEEE Robotics and Automation Letters, Edición 4/2, 2019, Página(s) 1462-1469, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/LRA.2019.2893676

Reactive Navigation in Crowds for Non-holonomic Robots with Convex Bounding Shape

Autores: Gonon D., Paez-Granados D. & Billard A.
Publicado en: IEEE Robotics and Automation Letters, Edición 6, 2021, Página(s) 4728 - 4735, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3068660

The impact of agent definitions and interactions on multiagent learning for coordination in traffic management domains

Autores: Jen Jen Chung, Damjan Miklić, Lorenzo Sabattini, Kagan Tumer, Roland Siegwart
Publicado en: Autonomous Agents and Multi-Agent Systems, Edición 34/1, 2020, ISSN 1387-2532
Editor: Kluwer Academic Publishers
DOI: 10.1007/s10458-020-09442-1

Online Optimal Perception-Aware Trajectory Generation

Autores: Paolo Salaris, Marco Cognetti, Riccardo Spica, Paolo Robuffo Giordano
Publicado en: IEEE Transactions on Robotics, Edición 35/6, 2019, Página(s) 1307-1322, ISSN 1552-3098
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2019.2931137

Deep Person Detection in Two-Dimensional Range Data

Autores: Lucas Beyer, Alexander Hermans, Timm Linder, Kai O. Arras, Bastian Leibe
Publicado en: IEEE Robotics and Automation Letters, Edición 3/3, 2018, Página(s) 2726-2733, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2018.2835510

Reinforced Imitation: Sample Efficient Deep Reinforcement Learning for Mapless Navigation by Leveraging Prior Demonstrations

Autores: Mark Pfeiffer, Samarth Shukla, Matteo Turchetta, Cesar Cadena, Andreas Krause, Roland Siegwart, Juan Nieto
Publicado en: IEEE Robotics and Automation Letters, Edición 3/4, 2018, Página(s) 4423-4430, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2018.2869644

Other (1)

Materializing Personal Standing Mobility from Design to Shared Control

Autores: Paez-granados, D.; Billard, A.; & Suzuki, K.
Publicado en: 2020
Editor: CYBATHLON Symposium. Virtual Conference

Thesis and dissertations (2)

Learning to Navigate: Data-driven Motion Planning for Autonomous Ground Robots

Autores: Pfeiffer, Mark
Publicado en: Edición 2, 2018
Editor: NA
DOI: 10.3929/ethz-b-000324253

Active SLAM in Crowded Environments

Autores: Dario Mammolo Supervisors: Daniel Dugas, Jen Jen Chung, Mark Pfeiffer, Roland Siegwart Institution: ETH Zürich
Publicado en: 2019
Editor: NA
DOI: 10.3929/ethz-b-000341706

Derechos de propiedad intelectual

Utility model (1)

HAPTISCHES BEDIENGERÄT UND ANTRIEBSVORRICHTUNG

Número de solicitud/publicación: DE 21176844.5
Fecha: 2020-05-29
Solicitante(s): LOCOMOTEC GMBH