Safe Robot Navigation in Dense Crowds

Livrables

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

Publications

Safe Human-Robot Interaction Through Crowd Contact Video Analysis

Auteurs: Fernando Garcia, Alexandre Mazel, Arturo Cruz Maya
Publié dans: Social Robotics - 11th International Conference, ICSR 2019, Madrid, Spain, November 26–29, 2019, Proceedings, Numéro 11876, 2019, Page(s) 588-598, ISBN 978-3-030-35887-7
Éditeur: 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

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

Autonomy vs. Safety in Shared Control Crowd Navigation

Auteurs: Eberle, H.; Zhang, B.; Mathibela, B.; Walker, G.; Teodorescu, C.; Holloway, C.; Carlson, T.
Publié dans: 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)., Numéro 2, 2020
Éditeur: RO-MAN

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

Auteurs: Dan Jia, Alexander Hermans, Bastian Leibe
Publié dans: arXiv pre-publication, 2021
Éditeur: arXiv pre-publication

Physical Safety in Collisions Between Robots and Pedestrians

Auteurs: Paez-Granados, Diego Felipe; Gonon, David; Salvini, Pericle; Billard, Aude
Publié dans: IEEEE International Conference on Robot and Human Interactive Communication (ROMAN-2020) Workshop on Robots from Pathways to Crowds (Virtual conference), 2020
Éditeur: 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

Auteurs: Pericle Salvini, Diego Paez-Granados, Aude Billard
Publié dans: ACM Transactions on Human-Robot Interaction (THRI), 2020
Éditeur: ACM Transactions on Human-Robot Interaction (THRI)

UNDER REVIEW - Reinforcement Learning Based Shared-Control Navigation

Auteurs: Zhang, B., Holloway, C., Carlson, T.
Publié dans: ICRA 2022, 2022
Éditeur: ICRA 2022

Robot Navigation in Crowded Environments Using Deep Reinforcement Learning

Auteurs: Liu, Lucia; Dugas, Daniel; Cesari, Gianluca; Siegwart, Roland; Dubé, Renaud
Publié dans: IROS 2020, 2020
Éditeur: IROS

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

Auteurs: Zhang, B., Amirian, J., Eberle, H., Pettré, J., Holloway, C., & Carlson, T.
Publié dans: International Journal of Social Robotics 2021, 2021
Éditeur: 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

Auteurs: Zhang, Bingqing; Holloway, Catherine; Carlson, Tom
Publié dans: Workshop on Mental Models of Robots at HRI 2020, 2020
Éditeur: HRI

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

Auteurs: Paolo Salaris; Wanting Jin; Philippe Martinet
Publié dans: ICINCO 2020 - 17th International Conference on Informatics in Control, Automation and Robotics, Jul 2020, Paris / Online, France, Numéro 1, 2020
Éditeur: ICINCO 2020
DOI: 10.5220/0009822004120419

OpenTraj: Assessing Prediction Complexity in Human Trajectories Datasets

Auteurs: Javad Amirian, Bingqing Zhang, Francisco Valente Castro, Juan Jose Baldelomar, Jean-Bernard Hayet, Julien Pettre
Publié dans: ACCV2020, 2020
Éditeur: arxiv

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

Auteurs: Chung, Jen Jen; Miklić, Damjan; Sabattini, Lorenzo; Tumer, Kagan; Siegwart, Roland
Publié dans: AAMAS '19 Proceedings of the 18th International Conference on Autonomous Agents and MultiAgent Systems, Numéro 2, 2019
Éditeur: IFAAMAS
DOI: 10.3929/ethz-b-000358306

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

Auteurs: Dugas, Daniel; Nieto, Juan; Siegwart, Roland; Chung, Jen Jen
Publié dans: IROS 2020, 2020
Éditeur: IROS

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

Auteurs: Paez-Granados D., He Y., Gonon D., Huber L., & Billard A.
Publié dans: IROS2022, 2022
Éditeur: IROS2022

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

Auteurs: Zhang, Bingqing; Holloway, Catherine; Carlson, Tom
Publié dans: SMC 2020, 2020
Éditeur: SMC

Enabling Socially Competent navigation through incorporating HRI

Auteurs: Cruz-Maya, Arturo; Garcia, Fernando; Pandey, Amit Kumar
Publié dans: HRI 2019, Numéro 1, 2019
Éditeur: HRI

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

Auteurs: J Amirian, JB Hayet, J Pettre
Publié dans: arXiv pre-publication, 2021
Éditeur: arXiv pre-publication

Robust Sensor Fault Detection for a Shared Control Wheelchair

Auteurs: Eberle, H., & Carlson, T.
Publié dans: RehabWeek 2021, 2021
Éditeur: RehabWeek 2021

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

Auteurs: Eberle, H., Zhang, B., Teodorescu, C., Walker, G., & Carlson, T.
Publié dans: Proceedings of the IEEE International Conference On Systems, Man, and Cybernetics (SMC) 2021, 2021
Éditeur: Proceedings of the IEEE International Conference On Systems, Man, and Cybernetics (SMC) 2021

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

Auteurs: Kilian Pfeiffer, Alexander Hermans, Istvan Sarandi, Mark Weber, Bastian Leibe
Publié dans: GCPR 2019, 2019
Éditeur: GCPR 2019
DOI: 10.1007/978-3-030-33676-9_39

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

Auteurs: Daniel Dugas, Juan Nieto, Roland Siegwart and Jen Jen Chung
Publié dans: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Éditeur: ICRA2021
DOI: 10.1109/icra48506.2021.9560951

Generalized Microscropic Crowd Simulation using Costs in Velocity Space

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

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

Auteurs: Daniel Dugas, Olov Andersson, Roland Siegwart and Jen Jen Chung
Publié dans: IROS2022, 2022
Éditeur: IROS2022

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

Auteurs: Paez-Granados D., Gupta V. & Billard A.
Publié dans: Robotics Science and Systems (RSS) - Workshop on Social Robot Navigation, 2021
Éditeur: Robotics Science and Systems (RSS) - Workshop on Social Robot Navigation

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

Auteurs: Amirian, Javad; Hayet, Jean-Baptiste; Pettré, Julien
Publié dans: IEEE Conference on Computer Vision and Pattern Recognition Workshops, 2019
Éditeur: CVPR 2019

Shared-control in Wheelchairs – Building Interaction Bridges

Auteurs: Zhang, B.; Holloway, C.; Carlson, T.; Ramirez Herrera, R.
Publié dans: In: CHI '19 Workshop: Weaving the Threads of Vehicle Automation. ACM: Glasgow, UK. (2019) (In press)., Numéro 1, 2019
Éditeur: CHI

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

Auteurs: Dan Jia, Mats Steinweg, Alexander Hermans, Bastian Leibe
Publié dans: IEEE International Conference on Robotics and Automation (ICRA) 2021, 2021
Éditeur: ICRA 2021
DOI: 10.1109/icra48506.2021.9561699

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

Auteurs: Paez-Granados D., Gupta V. & Billard A.
Publié dans: ICRA 2022, 2022
Éditeur: ICRA 2022

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

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

Iteratively Trained Interactive Segmentation

Auteurs: Mahadevan, Sabarinath; Voigtlaender, Paul; Leibe, Bastian
Publié dans: British Machine Vision Conference (BMVC), Numéro 1, 2018
Éditeur: BMVA

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

Auteurs: Jia, Dan; Hermans, Alexander; Leibe, Bastian
Publié dans: International Conference on Intelligent Robots and Systems, Numéro 1, 2020
Éditeur: IEEE/RSJ

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

Auteurs: Sabarinath Mahadevan, Ali Athar, Aljosa Osep, Sebastian Hennen, Laura Leal-Taixe, Bastian Leibe
Publié dans: British Machine Vision Conference (BMVC), 2020
Éditeur: BMVA

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

Auteurs: Fabien Grzeskowiak, David Gonon, Daniel Dugas, Diego Paez-Granados, Jen Chung, Juan Nieto, Roland Siegwart, Aude Billard, Marie Babel, Julien Pettré
Publié dans: ICRA 2021, 2021
Éditeur: ICRA 2021

Toward Virtual Reality-based Evaluation of Robot Navigation among People

Auteurs: Grzeskowiak, Fabien; Babel, Marie; Bruneau, Julien; Pettre, Julien
Publié dans: 2020 IEEE VR, 2020
Éditeur: IEEE VR

Data-Driven Crowd Simulation with Generative Adversarial Networks

Auteurs: Javad Amirian, Wouter van Toll, Jean-Bernard Hayet, Julien Pettré
Publié dans: Proceedings of the 32nd International Conference on Computer Animation and Social Agents - CASA '19, 2019, Page(s) 7-10, ISBN 9781450371599
Éditeur: 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

Auteurs: Paez-Granados D. & Billard A.
Publié dans: 2022
Éditeur: Journal

Crowd Navigation in VR: exploring haptic rendering of collisions

Auteurs: Berton, Florian; Grzeskowiak, Fabien; bonneau, Alexandre; Jovane, Alberto; Aggravi, Marco; Hoyet, Ludovic; Olivier, Anne-Hélène; Pacchierotti, Claudio; Pettré, Julien
Publié dans: IEEE Transactions on Visualization and Computer Graphics, Numéro 1, 2020, ISBN 9781450375894
Éditeur: 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

Auteurs: Pettré, Julien; Babel, Marie; Hayet, Jean-Bernard; Salaris, Paolo; Salvini, Pericle
Publié dans: IROS 2018, 2018
Éditeur: IROS

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

Auteurs: Daniel Dugas, Olov Andersson, Roland Siegwart and Jen Jen Chung
Publié dans: IROS2022, 2022
Éditeur: IROS2022

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

Auteurs: Alessandra Rossi, Fernando Garcia, Arturo Cruz Maya, Kerstin Dautenhahn, Kheng Lee Koay, Michael L. Walters, and Amit K. Pandey
Publié dans: Annual Conference Towards Autonomous Robotic Systems 2019, 2019
Éditeur: Springer

Wait for me! Towards socially assistive walk companions

Auteurs: Garcia, Fernando; Pandey, Amit Kumar; Fattal, Charles
Publié dans: HRI 2019, Numéro 2, 2019
Éditeur: HRI

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

Auteurs: Dan Jia, Bastian Leibe
Publié dans: IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2021, 2021
Éditeur: CVPRW 2021

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

Auteurs: Mark Pfeiffer, Giuseppe Paolo, Hannes Sommer, Juan Nieto, Rol Siegwart, Cesar Cadena
Publié dans: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 1-8, ISBN 978-1-5386-3081-5
Éditeur: IEEE
DOI: 10.1109/ICRA.2018.8461157

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

Auteurs: Zhang, B., Eberle, H., Holloway, C., & Carlson, T.
Publié dans: Proceedings of the RESNA Annual Conference 2021., 2021
Éditeur: 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.

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

CONDITIONAL ACCEPT - Understanding Interactions for Smart Wheelchair Navigation in Crowds

Auteurs: Zhang, B., Herrera, R., Barbareschi, G., Carlson, T., Holloway, C
Publié dans: CHI 2022, 2022
Éditeur: CHI 2022

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

Auteurs: Salvini, Pericle; Paez-Granados, Diego Felipe; Billard, Aude
Publié dans: International Journal of Social Robotics 2020, 2020
Éditeur: International Journal of Social Robotics 2020

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

Auteurs: Istvan Sarandi, Timm Linder, Kai Oliver Arras, Bastian Leibe
Publié dans: IEEE Transactions on Biometrics, Behavior, and Identity Science, Numéro 3/1, 2021, Page(s) 16-30, ISSN 2637-6407
Éditeur: 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

Auteurs: Lukas Huber, Aude Billard, Jean-Jacques Slotine
Publié dans: IEEE Robotics and Automation Letters, Numéro 4/2, 2019, Page(s) 1462-1469, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2019.2893676

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

Auteurs: Gonon D., Paez-Granados D. & Billard A.
Publié dans: IEEE Robotics and Automation Letters, Numéro 6, 2021, Page(s) 4728 - 4735, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2021.3068660

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

Auteurs: Jen Jen Chung, Damjan Miklić, Lorenzo Sabattini, Kagan Tumer, Roland Siegwart
Publié dans: Autonomous Agents and Multi-Agent Systems, Numéro 34/1, 2020, ISSN 1387-2532
Éditeur: Kluwer Academic Publishers
DOI: 10.1007/s10458-020-09442-1

Online Optimal Perception-Aware Trajectory Generation

Auteurs: Paolo Salaris, Marco Cognetti, Riccardo Spica, Paolo Robuffo Giordano
Publié dans: IEEE Transactions on Robotics, Numéro 35/6, 2019, Page(s) 1307-1322, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2019.2931137

Deep Person Detection in Two-Dimensional Range Data

Auteurs: Lucas Beyer, Alexander Hermans, Timm Linder, Kai O. Arras, Bastian Leibe
Publié dans: IEEE Robotics and Automation Letters, Numéro 3/3, 2018, Page(s) 2726-2733, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2018.2835510

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

Auteurs: Mark Pfeiffer, Samarth Shukla, Matteo Turchetta, Cesar Cadena, Andreas Krause, Roland Siegwart, Juan Nieto
Publié dans: IEEE Robotics and Automation Letters, Numéro 3/4, 2018, Page(s) 4423-4430, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2018.2869644

Materializing Personal Standing Mobility from Design to Shared Control

Auteurs: Paez-granados, D.; Billard, A.; & Suzuki, K.
Publié dans: 2020
Éditeur: CYBATHLON Symposium. Virtual Conference

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

Auteurs: Pfeiffer, Mark
Publié dans: Numéro 2, 2018
Éditeur: NA
DOI: 10.3929/ethz-b-000324253

Active SLAM in Crowded Environments

Auteurs: Dario Mammolo Supervisors: Daniel Dugas, Jen Jen Chung, Mark Pfeiffer, Roland Siegwart Institution: ETH Zürich
Publié dans: 2019
Éditeur: NA
DOI: 10.3929/ethz-b-000341706

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HAPTISCHES BEDIENGERÄT UND ANTRIEBSVORRICHTUNG

Numéro de demande/publication: DE 21176844.5
Date: 2020-05-29
Demandeur(s): LOCOMOTEC GMBH

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