Towards A Unified Framework of Socially Aware Robot Navigation: From Human Physical Safety and Psychological Comfort to Robots' Contextual and Cultural Awareness

在过去的50年里，工业机器人在自动化机器时代树立了重要的里程碑，在制造业中，自动化机器用来取代人类执行可重复的危险工作。然而，在本世纪，专业和家用移动服务机器人在工业和日常生活环境中都扮演着人类对应者和照顾者的关键角色。移动服务机器人不仅在最大限度地减少动手任务方面取代人类，而且还与人类合作，刺激他们专注于认知要求高的任务。然而，首先也是最重要的问题是如何使移动服务机器人能够在不对人类造成危险的情况下与人类一起工作。此外，我们希望在人类的身体安全和心理舒适得到完全保证的情况下，使专业和家用服务机器人能够以文化和背景可接受的方式与人类同事互动。

Industrial robots have set the important milestone in the era of automated machines used to replace humans in carrying out repeatable and dangerous jobs in manufacturing over 50 years. However, in this century, professional and domestic mobile service robots play the key role as human counterparts and caregivers in both industrial and daily-life settings. Mobile service robots not only replace humans in minimizing their hands-on tasks but also work with humans to stimulate them to focus on cognitively demanding tasks. Nevertheless, the first and most important concern is how to enable mobile service robots to work around or with humans without causing them danger. Moreover, we expect to make professional and domestic service robots to interact with human co-workers in culturally and contextually acceptable manners when human physical safety and psychological comfort have been completely guaranteed.