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arXiv · 2507.17317

HuNavSim 2.0: An Enhanced Human Navigation Simulator for Human-Aware Robot Navigation

Miguel Escudero-Jiménez·Noé Pérez-Higueras·Andrés Martínez-Silva·Fernando Caballero·Luis Merino
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Abstract

This work presents a new iteration of the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, programmed under the ROS 2 framework, can be used together with different well-known robotics simulators such as Gazebo or NVidia Isaac Sim. The main goal is to facilitate the development and evaluation of human-aware robot navigation systems in simulation. In this new version, several features have been improved and new ones added, such as the extended set of actions and conditions that can be combined in Behavior Trees to compound complex and realistic human behaviors.

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Miguel Escudero-Jiménez, Noé Pérez-Higueras, Andrés Martínez-Silva, Fernando Caballero, Luis Merino. 2025-07-23. HuNavSim 2.0: An Enhanced Human Navigation Simulator for Human-Aware Robot Navigation. https://arxiv.org/abs/2507.17317

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