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Conference Papers Year : 2023

Challenging Human-Aware Robot Navigation with an Intelligent Human Simulation System

Anthony Favier
Phani Teja Singamaneni
Rachid Alami

Abstract

The final validation of human-aware social robot navigation schemes requires testing and evaluation with real-life humans. During the prototyping and developmental phase, however, experiments with real humans for debugging and testing may not be a feasible option. Simulators can help overcome this issue, but the lack of available intelligent human avatars with rational behaviors restricts the testing to simple scenarios. In this regard, we propose a system for simulating an autonomous intelligent human agent specifically designed to act and interact with the robot navigating in a simulated environment. Further, the proposed system provides interactive GUI modules to run repeatable scenarios and visualize the interaction data. We conduct a series of experiments that show how the proposed Intelligent Human Simulation (InHuS) system can help tune and debug social navigation better.
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Dates and versions

hal-04211919 , version 1 (20-09-2023)

Identifiers

  • HAL Id : hal-04211919 , version 1

Cite

Anthony Favier, Phani Teja Singamaneni, Rachid Alami. Challenging Human-Aware Robot Navigation with an Intelligent Human Simulation System. Social Simulation Conference (SSC), Sep 2023, Glasgow, France. ⟨hal-04211919⟩
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