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arXiv · 1909.10809

Towards S-NAMO: Socially-aware Navigation Among Movable Obstacles

Benoit Renault·Jacques Saraydaryan·Olivier Simonin
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Abstract

In this paper, we present an in-depth analysis of Navigation Among Movable Obstacles (NAMO) literature, notably highlighting that social acceptability remains an unadressed problem in this robotics navigation domain. The objectives of a Socially-Aware NAMO are defined and a first set of algorithmic propositions is built upon existing work. We developed a simulator allowing to test our propositions of social movability evaluation for obstacle selection, and social placement of objects with a semantic map layer. Preliminary pushing tests are done with a Pepper robot, the standard platform for the Robocup@home Social Standard Platform League, in the context of our participation (LyonTech Team).

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Benoit Renault, Jacques Saraydaryan, Olivier Simonin. 2019-09-24. Towards S-NAMO: Socially-aware Navigation Among Movable Obstacles. https://arxiv.org/abs/1909.10809

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