CHS: Small: Socially-Aware Navigation

CHS：小型：社交意识导航

• 批准号: 1719027
• 负责人: David Feil-Seifer
• 金额: $ 50万
• 依托单位: Board of Regents, NSHE, obo University of Nevada, Reno
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2017
• 资助国家: 美国
• 起止时间: 2017-09-01 至 2022-03-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1719027&HistoricalAwards=false
• 关键词: CHS; Small; Socially; Aware; Navigation

The promise of robots to serve in assistive capacities for care and cooperation is invaluable. Socially assistive robots have the potential to make a positive impact on people in need of physical therapy, children in need of educational intervention, children with developmental disorders, and patients post-stroke. However, socially inappropriate behavior can harm the long-term adoption of these assistive platforms. In particular, while typically understood only as getting from point A to point B, robot movement can constitute communication without any use of words, and even when not intended. This can have serious ramifications for the success of a social interaction between one or more people and a robot. A robot in a long-term interaction (say in a hospital, school, or home setting) may have dozens or even hundreds of navigation destinations every day; sometimes, the "optimal" navigation behavior may not match the socially appropriate course of action. Socially inappropriate navigation behavior has been attributed as a major impediment to the long-term adoption of assistive robots in hospital settings. To address that problem, this project will develop a socially-aware navigation planner for autonomous robots that mimics the social conventions of human-human interactions, and will thereby advance the applications of autonomous robot technology.Model-based navigation planning for social appropriateness will involve observing the activities and intentions of people in social proximity to a robot and/or other people, and then selecting robot trajectories that are both spatially and socially optimal. This work will then build upon that foundation by expanding the library of spatial communication that a robot can understand and communicate in an autonomous fashion. The research will incorporate high-level features, such as intent recognition, into the model development along with low-level features, such as interpersonal distance, to create models of complex behavior considering both the spatial scene and the inferred intention of the actors in that scene. The Pareto Concavity Elimination Transformation (PaCcET) multi-objective optimization framework will be utilized to develop socially appropriate navigation behavior policies. The developed planner will be validated on several types of robot platforms.

机器人在护理和合作方面的辅助能力是非常宝贵的。 社交辅助机器人有可能对需要物理治疗的人、需要教育干预的儿童、发育障碍儿童和中风后患者产生积极影响。 然而，社交不当行为可能会损害这些辅助平台的长期采用。 特别地，虽然通常仅被理解为从点A到点B，但机器人移动可以构成不使用任何词语的通信，甚至在不意图的情况下。这可能会对一个或多个人与机器人之间的社交互动的成功产生严重的影响。 一个长期互动的机器人（比如在医院、学校或家庭环境中）每天可能会有几十个甚至几百个导航目的地;有时，“最佳”导航行为可能与社会适当的行动方案不匹配。 社会不恰当的导航行为被认为是长期采用辅助机器人在医院环境中的主要障碍。 为了解决这一问题，本项目将为自主机器人开发一种具有社会意识的导航规划器，该规划器模仿人类与人类互动的社会惯例，从而推进自主机器人技术的应用。基于模型的社交适当性导航规划将涉及观察与机器人和/或其他人社交接近的人的活动和意图，然后选择在空间和社会上都最优的机器人轨迹。 这项工作将建立在这个基础上，通过扩展空间通信库，机器人可以以自主的方式理解和通信。 该研究将把意图识别等高级特征与人际距离等低级特征一起沿着到模型开发中，以创建考虑空间场景和场景中演员推断意图的复杂行为模型。 帕累托凹消除变换（PaCcET）多目标优化框架将被用来制定社会适当的导航行为政策。 所开发的规划器将在几种类型的机器人平台上进行验证。

项目成果

Perceived Mistreatment and Emotional Capability Following Aggressive Treatment of Robots and Computers

• DOI: 10.1007/s12369-019-00599-8
• 发表时间: 2019-10-24
• 期刊: INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS
• 影响因子: 4.7
• 作者: Carlson, Zachary;Lemmon, Louise;Feil-Seifer, David
• 通讯作者: Feil-Seifer, David

Towards Deep Reasoning on Social Rules for Socially Aware Navigation

对社会规则进行深度推理以实现社会意识导航

• DOI: 10.1145/3434074.3447225
• 发表时间: 2021
• 期刊: HRI '21 Companion: Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction
• 作者: Salek Shahrezaie, Roya;Banisetty, Santosh Balajee;Mohammadi, Mohammadmahdi;Feil-Seifer, David
• 通讯作者: Feil-Seifer, David

Towards a Unified Planner For Socially-Aware Navigation

迈向具有社交意识的导航的统一规划器

• 发表时间: 2018
• 期刊: AAAI Fall Symposium Series: AI-HRI Artificial Intelligence for Human-Robot Interaction
• 作者: Banisetty, S.;Feil-Seifer, D.
• 通讯作者: Feil-Seifer, D.

Measuring the Perceived Social Intelligence of Robots

• DOI: 10.1145/3415139
• 发表时间: 2020-10-01
• 期刊: ACM TRANSACTIONS ON HUMAN-ROBOT INTERACTION
• 影响因子: 5.1
• 作者: Barchard, Kimberly A.;Lapping-Carr, Leiszle;Feil-Seifer, David
• 通讯作者: Feil-Seifer, David

Socially-Aware Navigation Using Non-Linear Multi-Objective Optimization

使用非线性多目标优化的社交感知导航

• 发表时间: 2018
• 期刊: Proceedings of the International Conference on Intelligent Robots and Systems
• 作者: Forer, Scott;Banisetty, Santosh;Yliniemi, Logan;Nicolescu, Monica;Feil-Seifer, David
• 通讯作者: Feil-Seifer, David