Challenging Human-Aware Robot Navigation with an Intelligent Human Simulation System - LAAS-Robotique Accéder directement au contenu
Pré-Publication, Document De Travail Année : 2022

Challenging Human-Aware Robot Navigation with an Intelligent Human Simulation System

Résumé

Human-aware and so-called social navigation abilities of a robot need to be tested and evaluated in real-life experiments with real humans. Such tests are mandatory to validate a mature system. But they are heavy to set up and can become tiresome when debugging the early stages of a system. Simulation could help solve this issue, but the lack of available intelligent human avatars that can exhibit a rational behavior restricts this to simple scenarios. To address this issue, we propose a system providing first an autonomous intelligent human agent specifically designed to act and interact with a robot navigating in a simulated environment. Then, the system provides a GUI to visualize the paths taken by the agents as well as the produced metrics in order to help evaluate the interaction. Moreover, the system also provides a high-level interface to control the agents and run repeatable scenarios. We show through a set of experiments how the proposed system can help answer the lack of intelligent avatars for tuning and debugging social navigation systems before their final evaluation with real humans.
Fichier principal
Vignette du fichier
RO_MAN2022___InHuS.pdf (736.79 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03684245 , version 1 (01-06-2022)

Identifiants

  • HAL Id : hal-03684245 , version 1

Citer

Anthony Favier, Phani-Teja Singamaneni, Rachid Alami. Challenging Human-Aware Robot Navigation with an Intelligent Human Simulation System. 2022. ⟨hal-03684245⟩
55 Consultations
64 Téléchargements

Partager

Gmail Facebook X LinkedIn More