Safe Robot Navigation in Dense Crowds

CORDIS fornisce collegamenti ai risultati finali pubblici e alle pubblicazioni dei progetti ORIZZONTE.

I link ai risultati e alle pubblicazioni dei progetti del 7° PQ, così come i link ad alcuni tipi di risultati specifici come dataset e software, sono recuperati dinamicamente da .OpenAIRE .

Risultati finali

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

Pubblicazioni

Safe Human-Robot Interaction Through Crowd Contact Video Analysis

Autori: Fernando Garcia, Alexandre Mazel, Arturo Cruz Maya
Pubblicato in: Social Robotics - 11th International Conference, ICSR 2019, Madrid, Spain, November 26–29, 2019, Proceedings, Numero 11876, 2019, Pagina/e 588-598, ISBN 978-3-030-35887-7
Editore: 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

Autori: Chandrakant Bothe, Fernando Garcia, Arturo Cruz Maya, Amit Kumar Pandey, Stefan Wermter
Pubblicato in: Social Robotics - 10th International Conference, ICSR 2018, Qingdao, China, November 28 - 30, 2018, Proceedings, Numero 11357, 2018, Pagina/e 230-240, ISBN 978-3-030-05203-4
Editore: Springer International Publishing
DOI: 10.1007/978-3-030-05204-1_23

Autonomy vs. Safety in Shared Control Crowd Navigation

Autori: Eberle, H.; Zhang, B.; Mathibela, B.; Walker, G.; Teodorescu, C.; Holloway, C.; Carlson, T.
Pubblicato in: 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)., Numero 2, 2020
Editore: RO-MAN

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

Autori: Dan Jia, Alexander Hermans, Bastian Leibe
Pubblicato in: arXiv pre-publication, 2021
Editore: arXiv pre-publication

Physical Safety in Collisions Between Robots and Pedestrians

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

Autori: Pericle Salvini, Diego Paez-Granados, Aude Billard
Pubblicato in: ACM Transactions on Human-Robot Interaction (THRI), 2020
Editore: ACM Transactions on Human-Robot Interaction (THRI)

UNDER REVIEW - Reinforcement Learning Based Shared-Control Navigation

Autori: Zhang, B., Holloway, C., Carlson, T.
Pubblicato in: ICRA 2022, 2022
Editore: ICRA 2022

Robot Navigation in Crowded Environments Using Deep Reinforcement Learning

Autori: Liu, Lucia; Dugas, Daniel; Cesari, Gianluca; Siegwart, Roland; Dubé, Renaud
Pubblicato in: IROS 2020, 2020
Editore: IROS

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

Autori: Zhang, B., Amirian, J., Eberle, H., Pettré, J., Holloway, C., & Carlson, T.
Pubblicato in: International Journal of Social Robotics 2021, 2021
Editore: 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

Autori: Zhang, Bingqing; Holloway, Catherine; Carlson, Tom
Pubblicato in: Workshop on Mental Models of Robots at HRI 2020, 2020
Editore: HRI

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

Autori: Paolo Salaris; Wanting Jin; Philippe Martinet
Pubblicato in: ICINCO 2020 - 17th International Conference on Informatics in Control, Automation and Robotics, Jul 2020, Paris / Online, France, Numero 1, 2020
Editore: ICINCO 2020
DOI: 10.5220/0009822004120419

OpenTraj: Assessing Prediction Complexity in Human Trajectories Datasets

Autori: Javad Amirian, Bingqing Zhang, Francisco Valente Castro, Juan Jose Baldelomar, Jean-Bernard Hayet, Julien Pettre
Pubblicato in: ACCV2020, 2020
Editore: arxiv

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

Autori: Chung, Jen Jen; Miklić, Damjan; Sabattini, Lorenzo; Tumer, Kagan; Siegwart, Roland
Pubblicato in: AAMAS '19 Proceedings of the 18th International Conference on Autonomous Agents and MultiAgent Systems, Numero 2, 2019
Editore: IFAAMAS
DOI: 10.3929/ethz-b-000358306

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

Autori: Dugas, Daniel; Nieto, Juan; Siegwart, Roland; Chung, Jen Jen
Pubblicato in: IROS 2020, 2020
Editore: IROS

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

Autori: Paez-Granados D., He Y., Gonon D., Huber L., & Billard A.
Pubblicato in: IROS2022, 2022
Editore: IROS2022

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

Autori: Zhang, Bingqing; Holloway, Catherine; Carlson, Tom
Pubblicato in: SMC 2020, 2020
Editore: SMC

Enabling Socially Competent navigation through incorporating HRI

Autori: Cruz-Maya, Arturo; Garcia, Fernando; Pandey, Amit Kumar
Pubblicato in: HRI 2019, Numero 1, 2019
Editore: HRI

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

Autori: J Amirian, JB Hayet, J Pettre
Pubblicato in: arXiv pre-publication, 2021
Editore: arXiv pre-publication

Robust Sensor Fault Detection for a Shared Control Wheelchair

Autori: Eberle, H., & Carlson, T.
Pubblicato in: RehabWeek 2021, 2021
Editore: RehabWeek 2021

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

Autori: Eberle, H., Zhang, B., Teodorescu, C., Walker, G., & Carlson, T.
Pubblicato in: Proceedings of the IEEE International Conference On Systems, Man, and Cybernetics (SMC) 2021, 2021
Editore: Proceedings of the IEEE International Conference On Systems, Man, and Cybernetics (SMC) 2021

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

Autori: Kilian Pfeiffer, Alexander Hermans, Istvan Sarandi, Mark Weber, Bastian Leibe
Pubblicato in: GCPR 2019, 2019
Editore: GCPR 2019
DOI: 10.1007/978-3-030-33676-9_39

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

Autori: Daniel Dugas, Juan Nieto, Roland Siegwart and Jen Jen Chung
Pubblicato in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Editore: ICRA2021
DOI: 10.1109/icra48506.2021.9560951

Generalized Microscropic Crowd Simulation using Costs in Velocity Space

Autori: Wouter van Toll, Fabien Grzeskowiak, Axel López Gandía, Javad Amirian, Florian Berton, Julien Bruneau, Beatriz Cabrero Daniel, Alberto Jovane, Julien Pettré
Pubblicato in: Symposium on Interactive 3D Graphics and Games, 2020, Pagina/e 1-9, ISBN 9781450375894
Editore: ACM
DOI: 10.1145/3384382.3384532

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

Autori: Daniel Dugas, Olov Andersson, Roland Siegwart and Jen Jen Chung
Pubblicato in: IROS2022, 2022
Editore: IROS2022

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

Autori: Paez-Granados D., Gupta V. & Billard A.
Pubblicato in: Robotics Science and Systems (RSS) - Workshop on Social Robot Navigation, 2021
Editore: Robotics Science and Systems (RSS) - Workshop on Social Robot Navigation

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

Autori: Amirian, Javad; Hayet, Jean-Baptiste; Pettré, Julien
Pubblicato in: IEEE Conference on Computer Vision and Pattern Recognition Workshops, 2019
Editore: CVPR 2019

Shared-control in Wheelchairs – Building Interaction Bridges

Autori: Zhang, B.; Holloway, C.; Carlson, T.; Ramirez Herrera, R.
Pubblicato in: In: CHI '19 Workshop: Weaving the Threads of Vehicle Automation. ACM: Glasgow, UK. (2019) (In press)., Numero 1, 2019
Editore: CHI

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

Autori: Dan Jia, Mats Steinweg, Alexander Hermans, Bastian Leibe
Pubblicato in: IEEE International Conference on Robotics and Automation (ICRA) 2021, 2021
Editore: ICRA 2021
DOI: 10.1109/icra48506.2021.9561699

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

Autori: Paez-Granados D., Gupta V. & Billard A.
Pubblicato in: ICRA 2022, 2022
Editore: ICRA 2022

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

Autori: Ali Athar, Sabarinath Mahadevan, Aljos̆a Os̆ep, Laura Leal-Taixé, Bastian Leibe
Pubblicato in: Computer Vision – ECCV 2020 - 16th European Conference, Glasgow, UK, August 23–28, 2020, Proceedings, Part XI, Numero 12356, 2020, Pagina/e 158-177, ISBN 978-3-030-58620-1
Editore: Springer International Publishing
DOI: 10.1007/978-3-030-58621-8_10

Iteratively Trained Interactive Segmentation

Autori: Mahadevan, Sabarinath; Voigtlaender, Paul; Leibe, Bastian
Pubblicato in: British Machine Vision Conference (BMVC), Numero 1, 2018
Editore: BMVA

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

Autori: Jia, Dan; Hermans, Alexander; Leibe, Bastian
Pubblicato in: International Conference on Intelligent Robots and Systems, Numero 1, 2020
Editore: IEEE/RSJ

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

Autori: Sabarinath Mahadevan, Ali Athar, Aljosa Osep, Sebastian Hennen, Laura Leal-Taixe, Bastian Leibe
Pubblicato in: British Machine Vision Conference (BMVC), 2020
Editore: BMVA

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

Autori: Fabien Grzeskowiak, David Gonon, Daniel Dugas, Diego Paez-Granados, Jen Chung, Juan Nieto, Roland Siegwart, Aude Billard, Marie Babel, Julien Pettré
Pubblicato in: ICRA 2021, 2021
Editore: ICRA 2021

Toward Virtual Reality-based Evaluation of Robot Navigation among People

Autori: Grzeskowiak, Fabien; Babel, Marie; Bruneau, Julien; Pettre, Julien
Pubblicato in: 2020 IEEE VR, 2020
Editore: IEEE VR

Data-Driven Crowd Simulation with Generative Adversarial Networks

Autori: Javad Amirian, Wouter van Toll, Jean-Bernard Hayet, Julien Pettré
Pubblicato in: Proceedings of the 32nd International Conference on Computer Animation and Social Agents - CASA '19, 2019, Pagina/e 7-10, ISBN 9781450371599
Editore: 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

Autori: Paez-Granados D. & Billard A.
Pubblicato in: 2022
Editore: Journal

Crowd Navigation in VR: exploring haptic rendering of collisions

Autori: Berton, Florian; Grzeskowiak, Fabien; bonneau, Alexandre; Jovane, Alberto; Aggravi, Marco; Hoyet, Ludovic; Olivier, Anne-Hélène; Pacchierotti, Claudio; Pettré, Julien
Pubblicato in: IEEE Transactions on Visualization and Computer Graphics, Numero 1, 2020, ISBN 9781450375894
Editore: 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

Autori: Pettré, Julien; Babel, Marie; Hayet, Jean-Bernard; Salaris, Paolo; Salvini, Pericle
Pubblicato in: IROS 2018, 2018
Editore: IROS

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

Autori: Daniel Dugas, Olov Andersson, Roland Siegwart and Jen Jen Chung
Pubblicato in: IROS2022, 2022
Editore: IROS2022

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

Autori: Alessandra Rossi, Fernando Garcia, Arturo Cruz Maya, Kerstin Dautenhahn, Kheng Lee Koay, Michael L. Walters, and Amit K. Pandey
Pubblicato in: Annual Conference Towards Autonomous Robotic Systems 2019, 2019
Editore: Springer

Wait for me! Towards socially assistive walk companions

Autori: Garcia, Fernando; Pandey, Amit Kumar; Fattal, Charles
Pubblicato in: HRI 2019, Numero 2, 2019
Editore: HRI

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

Autori: Dan Jia, Bastian Leibe
Pubblicato in: IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2021, 2021
Editore: CVPRW 2021

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

Autori: Mark Pfeiffer, Giuseppe Paolo, Hannes Sommer, Juan Nieto, Rol Siegwart, Cesar Cadena
Pubblicato in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Pagina/e 1-8, ISBN 978-1-5386-3081-5
Editore: IEEE
DOI: 10.1109/ICRA.2018.8461157

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

Autori: Zhang, B., Eberle, H., Holloway, C., & Carlson, T.
Pubblicato in: Proceedings of the RESNA Annual Conference 2021., 2021
Editore: 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.

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

CONDITIONAL ACCEPT - Understanding Interactions for Smart Wheelchair Navigation in Crowds

Autori: Zhang, B., Herrera, R., Barbareschi, G., Carlson, T., Holloway, C
Pubblicato in: CHI 2022, 2022
Editore: CHI 2022

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

Autori: Salvini, Pericle; Paez-Granados, Diego Felipe; Billard, Aude
Pubblicato in: International Journal of Social Robotics 2020, 2020
Editore: International Journal of Social Robotics 2020

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

Autori: Istvan Sarandi, Timm Linder, Kai Oliver Arras, Bastian Leibe
Pubblicato in: IEEE Transactions on Biometrics, Behavior, and Identity Science, Numero 3/1, 2021, Pagina/e 16-30, ISSN 2637-6407
Editore: 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

Autori: Lukas Huber, Aude Billard, Jean-Jacques Slotine
Pubblicato in: IEEE Robotics and Automation Letters, Numero 4/2, 2019, Pagina/e 1462-1469, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2019.2893676

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

Autori: Gonon D., Paez-Granados D. & Billard A.
Pubblicato in: IEEE Robotics and Automation Letters, Numero 6, 2021, Pagina/e 4728 - 4735, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2021.3068660

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

Autori: Jen Jen Chung, Damjan Miklić, Lorenzo Sabattini, Kagan Tumer, Roland Siegwart
Pubblicato in: Autonomous Agents and Multi-Agent Systems, Numero 34/1, 2020, ISSN 1387-2532
Editore: Kluwer Academic Publishers
DOI: 10.1007/s10458-020-09442-1

Online Optimal Perception-Aware Trajectory Generation

Autori: Paolo Salaris, Marco Cognetti, Riccardo Spica, Paolo Robuffo Giordano
Pubblicato in: IEEE Transactions on Robotics, Numero 35/6, 2019, Pagina/e 1307-1322, ISSN 1552-3098
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2019.2931137

Deep Person Detection in Two-Dimensional Range Data

Autori: Lucas Beyer, Alexander Hermans, Timm Linder, Kai O. Arras, Bastian Leibe
Pubblicato in: IEEE Robotics and Automation Letters, Numero 3/3, 2018, Pagina/e 2726-2733, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2018.2835510

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

Autori: Mark Pfeiffer, Samarth Shukla, Matteo Turchetta, Cesar Cadena, Andreas Krause, Roland Siegwart, Juan Nieto
Pubblicato in: IEEE Robotics and Automation Letters, Numero 3/4, 2018, Pagina/e 4423-4430, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2018.2869644

Materializing Personal Standing Mobility from Design to Shared Control

Autori: Paez-granados, D.; Billard, A.; & Suzuki, K.
Pubblicato in: 2020
Editore: CYBATHLON Symposium. Virtual Conference

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

Autori: Pfeiffer, Mark
Pubblicato in: Numero 2, 2018
Editore: NA
DOI: 10.3929/ethz-b-000324253

Active SLAM in Crowded Environments

Autori: Dario Mammolo Supervisors: Daniel Dugas, Jen Jen Chung, Mark Pfeiffer, Roland Siegwart Institution: ETH Zürich
Pubblicato in: 2019
Editore: NA
DOI: 10.3929/ethz-b-000341706

Diritti di proprietà intellettuale

HAPTISCHES BEDIENGERÄT UND ANTRIEBSVORRICHTUNG

Numero candidatura/pubblicazione: DE 21176844.5
Data: 2020-05-29
Candidato/i: LOCOMOTEC GMBH

HAPTISCHES BEDIENGERÄT UND ANTRIEBSVORRICHTUNG

Numero candidatura/pubblicazione: DE 21176844.5
Data: 2020-05-29
Candidato/i: LOCOMOTEC GMBH

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