Socially-accepted Path Planning for Robot Navigation based on Social Interaction Spaces


Path planning is one of the most widely studied problems in robot navigation. It deals with estimating an optimal set of waypoints from an initial to a target coordinate. New generations of assistive robots should be able to compute these paths considering not only obstacles but also social conventions. This ability is commonly referred to as social navigation. This paper describes a new socially-acceptable path-planning framework where robots avoid entering areas corresponding to the personal spaces of people, but most importantly, areas related to human-human and human-object interaction. To estimate the social cost of invading personal spaces we use the concept of proxemics. To model the social cost of invading areas where interaction is happening we include the concept of object interaction space. The framework uses Dijkstra's algorithm on a uniform graph of free space where edges are weighed according to the social traversal cost of their outbound node. Experimental results demonstrate the validity of the proposal to plan socially-accepted paths.

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Additional Information: © Springer Nature B.V. 2019. The final publication is available at Springer via
Uncontrolled Keywords: Dijkstra,Path-planning,Social navigation,Control and Systems Engineering,General Computer Science
ISBN: 978-3-030-36149-5, 978-3-030-36150-1
Last Modified: 22 Jul 2024 07:40
Date Deposited: 13 Dec 2019 14:04
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Related URLs: https://link.sp ... -030-36150-1_53 (Publisher URL)
http://www.scop ... tnerID=8YFLogxK (Scopus URL)
PURE Output Type: Conference contribution
Published Date: 2020
Published Online Date: 2019-11-20
Accepted Date: 2019-08-28
Authors: Vega, Araceli
Cintas, Ramon
Manso, Luis J. (ORCID Profile 0000-0003-2616-1120)
Bustos, Pablo
Núñez, Pedro



Version: Accepted Version

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