NRI: FND: Mutually Aware Social Navigation

该项目旨在为机器人提供社会智能，以了解它们的运动与周围人类运动之间的相互依赖性。为此，这项工作将集中在（1）改善机器人对空间行为的推理方式，以及（2）开发导航方法，从而在社会环境中产生可理解和适当的运动模式。这个项目将建立在机器人感知和社会行为在人群和群体之前的工作。这项工作将影响机器人在许多应用领域的未来使用，特别是对于那些没有受过机器人训练的人（例如，递送机器人、引导机器人等）。几乎所有靠近人类的机器人都需要适当的行为，因此有必要采用社交智能导航技术，从而提高人类的接受度和市场成功率。该团队还将继续在促进多样性，将教育与研究相结合，向公众，行业利益相关者和其他研究人员传播新知识等方面取得成功。之前的工作已经确定了人类感知导航的重要性，并开发了将管理人类物理空间的社会规范纳入机器人路径规划方面的方法。在这项基础工作的基础上，该团队将解决三个主要的社会智能任务：（1）使机器人能够共同推理附近的人类空间行为和他们自己的行为，（2）使机器人能够在导航时传达他们的意图，以便附近的人类可以理解他们的运动，以及（3）让机器人能够决定何时可以接受违反预先建立的社会惯例。这些领域的研究并不完整，因为大多数研究都没有考虑到相互依赖的意识或推理，这使得机器人很难智能地推理出如何以一种适合社会的方式改变人群的运动。该团队发现的方法也将支持多个机器人必须与多个人类混合的情况。

This project seeks to provide robots with the social intelligence to be aware of the mutualdependency between their movements and the movements of humans around them. To thisend, the work will focus on (1) improving the way robots reason about spatial behavior, and (2)developing navigation methods that lead to understandable and appropriate motion patterns insocial environments. This project will build upon prior work in robot perception and socialbehavior in crowds and groups. This work will impact the future use of robots in many application domains, especially for those where people untrained in robotics are present (e.g., delivery robots, guide robots, etc.). Almost all robots that move near people will need to behave appropriately, so it is necessary to discoversocially intelligent navigation techniques, thereby increasing human acceptance and marketsuccess. The team will also continue established and successful efforts in fostering diversity,integrating education with research, disseminating new knowledge to the general public,industry stakeholders, and other researchers.Prior work has identified the importance of human-aware navigation, and has developedmethods to incorporate the social norms that govern human physical space into aspects of robotpath planning. Building on this foundational work, the team will address three main socialintelligence tasks: (1) enabling robots to reason jointly about nearby human spatial behavior andtheir own, (2) enabling robots to communicate their intentions as they navigate so that theirmotion is understandable by nearby humans, and (3) giving robots the ability to decide when it isacceptable to violate pre-established social conventions. Research in these areas isincomplete since most efforts do not include awareness or reasoning about mutual dependency.This makes it difficult for a robot to reason intelligently on how to alter crowd motions in asocially appropriate manner. Methods discovered by the team will also support the case wheremultiple robots must mix with multiple humans.