TY - JOUR
T1 - Multi-agent navigation in human-shared environments
T2 - A safe and socially-aware approach
AU - Boldrer, Manuel
AU - Antonucci, Alessandro
AU - Bevilacqua, Paolo
AU - Palopoli, Luigi
AU - Fontanelli, Daniele
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
KW - Distributed systems
KW - Multi-robot navigation
KW - Socially-aware navigation
UR - http://www.scopus.com/inward/record.url?scp=85122212391&partnerID=8YFLogxK
U2 - 10.1016/j.robot.2021.103979
DO - 10.1016/j.robot.2021.103979
M3 - Article
AN - SCOPUS:85122212391
VL - 149
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
SN - 0921-8890
M1 - 103979
ER -