Core Challenges of Social Robot Navigation: A Survey
Core Challenges of Social Robot Navigation: A Survey
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DOI：
10.1145/3583741
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发表时间：
2021-03
影响因子：
5.1
通讯作者：
Christoforos Mavrogiannis;Francesca Baldini;Allan Wang;Dapeng Zhao;Aaron Steinfeld;Pete Trautman;Jean Oh
中科院分区：
文献类型：
--
作者：
Christoforos Mavrogiannis;Francesca Baldini;Allan Wang;Dapeng Zhao;Aaron Steinfeld;Pete Trautman;Jean Oh
机器人在拥挤的公共场所导航是一项复杂的任务，需要解决各种工程和人为因素的挑战。这些挑战激发了大量的研究，在过去的三十年里为机器人学和人-机器人交互领域带来了重要的发展。尽管取得了重大进展和最近的巨大兴趣，但我们观察到一些重大的剩余挑战，这些挑战阻碍了自主机器人在拥挤环境中的无缝部署。在这篇综述文章中，我们将现有的挑战归类为一组与机器人规划、行为设计和评估方法中更广泛的公开问题相关的类别。在这些类别中，我们回顾了过去的工作，并为未来的研究提供了方向。我们的工作建立在早期调查工作的基础上，并通过以下方式扩展：(A)采取批判性观点，诊断在该领域采用的做法的根本局限性，以及(B)提供建设性的反馈和想法，可在未来十年启发该领域的研究。
Robot navigation in crowded public spaces is a complex task that requires addressing a variety of engineering and human factors challenges. These challenges have motivated a great amount of research resulting in important developments for the fields of robotics and human-robot interaction over the past three decades. Despite the significant progress and the massive recent interest, we observe a number of significant remaining challenges that prohibit the seamless deployment of autonomous robots in crowded environments. In this survey article, we organize existing challenges into a set of categories related to broader open problems in robot planning, behavior design, and evaluation methodologies. Within these categories, we review past work and offer directions for future research. Our work builds upon and extends earlier survey efforts by (a) taking a critical perspective and diagnosing fundamental limitations of adopted practices in the field and (b) offering constructive feedback and ideas that could inspire research in the field over the coming decade.