The paper addresses the problem of multi-robot navigation in human shared spaces. We propose a hierarchical framework that combines global path planning, local path planning and reactive strategies, ensuring a safe and socially-aware navigation. We show through several tests and extensive experiments with a real robotic implementation that our combination of solutions delivers excellent results in terms of robustness and performance even in challenging natural scenarios.

Multi-agent navigation in human-shared environments: A safe and socially-aware approach / Boldrer, Manuel; Antonucci, Alessandro; Bevilacqua, Paolo; Palopoli, Luigi; Fontanelli, Daniele. - In: ROBOTICS AND AUTONOMOUS SYSTEMS. - ISSN 0921-8890. - ELETTRONICO. - 149:(2022), pp. 103979.1-103979.14. [10.1016/j.robot.2021.103979]

Multi-agent navigation in human-shared environments: A safe and socially-aware approach

Boldrer, Manuel;Antonucci, Alessandro;Bevilacqua, Paolo;Palopoli, Luigi;Fontanelli, Daniele
2022-01-01

Abstract

The paper addresses the problem of multi-robot navigation in human shared spaces. We propose a hierarchical framework that combines global path planning, local path planning and reactive strategies, ensuring a safe and socially-aware navigation. We show through several tests and extensive experiments with a real robotic implementation that our combination of solutions delivers excellent results in terms of robustness and performance even in challenging natural scenarios.
2022
Boldrer, Manuel; Antonucci, Alessandro; Bevilacqua, Paolo; Palopoli, Luigi; Fontanelli, Daniele
Multi-agent navigation in human-shared environments: A safe and socially-aware approach / Boldrer, Manuel; Antonucci, Alessandro; Bevilacqua, Paolo; Palopoli, Luigi; Fontanelli, Daniele. - In: ROBOTICS AND AUTONOMOUS SYSTEMS. - ISSN 0921-8890. - ELETTRONICO. - 149:(2022), pp. 103979.1-103979.14. [10.1016/j.robot.2021.103979]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/330497
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